Unit 2: Transfer Function: Preface

2 | Feedback Control System 1
UNIT 2: TRANSFER FUNCTION

PREFACE
In this learning packet the linear time-invariant differential equation is transformed to
a transfer function. The transfer function defines the system algebraically with the
application of the Laplace Transform. Block diagram is used to present the relationship
of transfer function and its associated input and output. It also illustrated in this packet
the presentation of the output in terms of its transfer function and the input in the time
domain. The concept of transfer function has been applied also in the electrical network
and translational mechanical system. Both electrical network and translational
mechanical system use the mathematical model of the passive elements to define the
differential equation of the system.
2.0 Intended Learning Outcomes

At the end of this lesson, the students should be able to
a. Explain system modeling and transfer function
b. Determine the relationship of linear time-invariant systems to its frequency
response
2.1 Introduction
The concept of transfer function has been applied also in the electrical network
and translational mechanical system. Both electrical network and translational
mechanical system use the mathematical model of the passive elements to define the
differential equation of the system.
2.2 Topics/Discussion
We have already discussed the Laplace transform definition and we apply the
properties of the transform in solving the solution of a differential equation. The linear
time-invariant differential equation, Equation 2.1 presents the general presentation of
the control system showing the mathematical relationship of input r(t) and output c(t)
in time domain.
C. M. D. Hamo-ay
Equation 2.1
By getting the Laplace transform on both sides of the equation it gives us the
frequency domain of the system as shown in the equation below,
Equation 2.2
considering all initial conditions equal to zero. The transfer function G(s) defines as the ratio
of the output C(s) to the input R(s) as shown on Equation 2.3 in the frequency domain. Also,
we can represent the output as presented on Equation 2.4. The Block Diagram on Figure 2.1
apparently illustrates the transfer function and its associated input and output.
Equation 2.3
Equation 2.4
Figure 2.1
Practice Problem 2.1: Find the transfer function represented by
C. M. D. Hamo-ay
Practice Problem 2.2: Use the result of Practice Problem 2.1 to find the response, c(t)
to an input, r(t) = u(t), a unit step, assuming zero initials conditions.
Assessment 2.1: Find the transfer function G(s) = C(s)/R(s), corresponding to the differential equation
Assessment 2.2: Find the differential equation corresponding to the transfer function,
Assessment 2.3: Find the ramp response for a system whose transfer function is
C. M. D. Hamo-ay
Electrical Networks Transfer Functions

We are now ready to apply the concept of transfer function to model system on electrical
networks. You are encouraged to review the mesh and nodal analysis in the course electrical
circuits to have refreshing points in solving electrical network by inspection. The mesh and
nodal analysis will facilitate understanding in obtaining the transfer function of the system.
Further, you need also to recall back on the mathematical modeling of electrical passive
elements, resistor, inductor and capacitor to obtain the differential equation generated by the
given loop or node in the network. Table 2.1 presents the voltage-current, voltage-charge,
and independence relationships for capacitors, resistors and inductors.
Table 2.1: Voltage-current, voltage-charge, and independence relationships for capacitors, resistors and inductors
Practice Problem 2.3: Find the transfer function relating the capacitor voltage, Vc(s), to the input voltage, V(s) in the
figure below.
C. M. D. Hamo-ay
C. M. D. Hamo-ay
Assessment 2.4: Given the network of the figure below, find the transfer function, I 2(s)/V(s).
Translational Mechanical System Transfer Functions
Solving transfer function on electrical network and translational mechanical systems have
quite in common. In translational mechanical system, we apply also the mathematical model
of the three passive mechanical elements namely, spring, viscous damper and mass. These
three passive elements have also inherent constants as shown in Table 2.2, K, fv and M, these
are called spring constant, coefficient of viscous friction, and mass respectively.
The analogous of electrical network and translational mechanical system can be compared
by looking at Table 2.1 and Table 2.2. In mechanical system, we present the force f(t) as the
input function and the displacement x(t) as the output function. In similar manner, in
creating loop or node equation in an electrical network, the mechanical system requires to
formulate an equation of motion to describe the state of the system. The equation of motion
can be formulated by examining the reaction of forces exerted by the elements in the
mechanical system as the element is in the state of motion. In electrical network, we follow
sign convention to formulate the loop and node equation as the current passes to every
element in the network. In mechanical system, we draw a free body diagram for the system
and analyze all associated forces that interact with the elements under analysis. We only
consider the direction of force relative to the direction of motion to determine the sign
convention. In this discussion, we designate positive forces that are along the direction of
motion and negative forces that are opposite to the direction of motion. However, there are
many applications in the mechanical system that needs the analysis of two or more degrees
of freedom.
C. M. D. Hamo-ay
Table 2.2: Force-velocity, force-displacement, and impedance translational relationships for springs, viscous dampers and
mass
Practice Problem 2.4 Find the transfer function, X(s)/F(s), for the system below.
C. M. D. Hamo-ay
Assessment 2.5: Find the transfer function, X2(s)/F(s), for the system shown below.
C. M. D. Hamo-ay
2.3 References:
Nise, N. S. (2011). Control Systems Engineering. Sixth Edition. John Wiley and Sons,
Inc.
Ogata, K. (2010). Modern Control Engineering. Fifth Edition. Pearson Education, Inc.
Alexander, C.K. and Sadiku, M. O. (2013). Fundamentals of Electric Circuits (e-book).
Fifth Edition. New York, USA: McGraw Hill Companies, Inc.
2.4 Acknowledgement
All images and information contained in this learning packet 1 were taken from the
references cited above.
C. M. D. Hamo-ay

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2 | Feedback Control System 1

UNIT 2: TRANSFER FUNCTION

2.0 Intended Learning Outcomes

Practice Problem 2.1: Find the transfer function represented by

to an input, r(t) = u(t), a unit step, assuming zero initials conditions.

Electrical Networks Transfer Functions

Translational Mechanical System Transfer Functions

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