System Transfer Function

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 Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input.
Considering all initial conditions to zero.
u(t) y(t)
Plant

If u(t ) = U ( S ) and
y(t ) = Y ( S )

• Where  is the Laplace operator.

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 Transfer Function
• Then the transfer function G(S) of the plant is given
as
Y (S )
G( S ) =
U (S )

U(S) G(S) Y(S)

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 Why Laplace Transform?
• By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
• For example

 sin t = 2 2
s +
Or
− at 1
e =
s+a
• Where s is a complex variable (complex frequency) and
is given as
s =  + j 4
 Laplace Transform of Derivatives
• Not only common function can be converted into
simple algebraic expressions but calculus operations
can also be converted into algebraic expressions.
• For example
dx(t )
 = sX ( S ) − x( 0)
dt

2
d x(t ) 2 dx( 0)
 2
= s X ( S ) − x(0) −
dt dt
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 Laplace Transform of Derivatives
• In general

d x(t )
n
n −1 n −1
 n
= s X (S ) − s
n
x(0) −  − x ( 0)
dt

• Where x(0) is the initial condition of the system.

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 Example: RC Circuit

• u is the input voltage applied at t=0

• y is the capacitor voltage

• If the capacitor is not already charged then

y(0)=0.

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 Laplace Transform of Integrals

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  x(t )dt = X ( S )
s

• The time domain integral becomes division by

s in frequency domain.

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 Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system and
x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A =C −B
• or dt 2 dt dt

Ax' ' (t ) = Cy' (t ) − Bx' (t )

• Taking the Laplace transform on either sides

A[ s 2 X ( s ) − sx(0) − x' (0)] = C[ sY ( s ) − y(0)] − B[ sX ( s ) − x(0)]

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 Calculation of the Transfer Function

A[ s 2 X ( s ) − sx(0) − x' (0)] = C[ sY ( s ) − y(0)] − B[ sX ( s ) − x(0)]

• Considering Initial conditions to zero in order to find the transfer

function of the system

As 2 X ( s ) = CsY ( s ) − BsX ( s )
• Rearranging the above equation

As 2 X ( s ) + BsX ( s ) = CsY ( s )
X ( s )[ As 2 + Bs ] = CsY ( s )
X (s) Cs C
= =
Y ( s ) As + Bs As + B
2
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 Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.

Figure-1

2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.

6u' ' (t ) − 3u(t ) +  y(t )dt = −3 y' ' ' (t ) − y(t )

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 Transfer Function
• In general

• Where x is the input of the system and y is the output of

the system.

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 Transfer Function

• When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.

• Otherwise ‘improper’

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 Transfer Function
• Transfer function helps us to check

– The stability of the system

– Time domain and frequency domain characteristics of the

system

– Response of the system for any given input

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 Stability of Control System
• There are several meanings of stability, in general
there are two kinds of stability definitions in control
system study.

– Absolute Stability

– Relative Stability

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 Stability of Control System

• Roots of denominator polynomial of a transfer

function are called ‘poles’.

• And the roots of numerator polynomials of a

transfer function are called ‘zeros’.

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 Stability of Control System

• Poles of the system are represented by ‘x’ and

zeros of the system are represented by ‘o’.
• System order is always equal to number of
poles of the transfer function.
• Following transfer function represents nth
order plant.

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 Stability of Control System
• Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.

• And zero is the frequency at which system becomes

0.

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 Example
• Consider the Transfer function calculated in previous
slides.
X (s) C
G( s ) = =
Y ( s ) As + B

the denominato r polynomial is As + B = 0

• The only pole of the system is

B
s=−
A

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 Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system

s+3 G( s ) =
s
i) G( s ) = ii)
s( s + 2) ( s + 1)( s + 2)( s + 3)

( s + 3)2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
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 Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
to check the stability of the system.
j

LHP RHP

Recall s =  + j


s-plane

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 Stability of Control Systems
• If all the poles of the system lie in left half plane the
system is said to be Stable.
• If any of the poles lie in right half plane the system is said
to be unstable.
• If pole(s) lie on imaginary axis the system is said to be
marginally stable. j

LHP RHP

s-plane
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 Stability of Control Systems
• For example
C
G( s ) = , if A = 1, B = 3 and C = 10
As + B
• Then the only pole of the system lie at

pole = −3
j

LHP RHP

X 
-3

s-plane
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 Examples
• Consider the following transfer functions.
▪ Determine whether the transfer function is proper or improper
▪ Calculate the Poles and zeros of the system
▪ Determine the order of the system
▪ Draw the pole-zero map
▪ Determine the Stability of the system

s+3 G( s ) =
s
i) G( s ) = ii)
s( s + 2) ( s + 1)( s + 2)( s + 3)

( s + 3)2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
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 System Models
Spring F= -kx
Damper 𝐹 = −𝑐𝑥ሶ
Mass F= ma

𝑚𝑥ሷ + 𝑐𝑥ሶ + 𝑘𝑥 = 0
𝑐 𝑘
𝑥ሷ + 𝑥ሶ + 𝑥 = 0
𝑚 𝑚

c k
s + s+ =0
2

m m
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Systems in Series

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Systems in Series: Example

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Systems with Feedback Loops

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Systems with Feedback Loops:
Example

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