15ME702-Mechatronics Unit III: Feedback Control

15ME702- Mechatronics
Unit III
FEEDBACK CONTROL
Topic : Transfer Function,
Mathematical Modeling of
Mechanical
Transfer Function
• A transfer function represents the relationship between the output signal of a
control system and the input signal, for all possible input values.
• A block diagram is a visualization of the control system which uses blocks to

represent the transfer function, and arrows which represent the various input
and output signals.
• For any control system, there exists a reference input known as excitation or
cause which operates through a transfer operation (i.e. the transfer function) to
produce an effect resulting in controlled output or response.
• Thus the cause and effect relationship between the output and input is related
to each other through a transfer function.
Procedure for determining the transfer
function
• We form the equations for the system.
• Now we take Laplace transform of the system equations,
assuming initial conditions as zero.
• Specify system output and input.
• Lastly we take the ratio of the Laplace transform of the output
and the Laplace transform of the input which is the required
transfer function.
Framing a transfer function Ex.
• Let us consider a system consists of a series connected resistance
(R) and inductance (L) across a voltage source (V).
• In this circuit, the current ‘i’ is the response due to applied voltage
(V) as cause. Hence the voltage and current of the circuit can be
considered as input and output of the system respectively.
The transfer function of the system, G(s) = I(s)/V(s), the ratio

of output to input.
• It is not necessary that output and input of a control system
are of same category.
• For example, in electric motors the input is electrical signal
whereas the output is mechanical signal since electrical
energy required to rotate the motors.
• Similarly in an electric generator, the input is mechanical
signal and the output is electrical signal, since mechanical
energy is required to produce electricity in a generator.
• But for mathematical analysis of a system, all kinds of signals
should be represented in a similar form.
• This is done by transforming all kinds of signal to their Laplace
form.
• Ex.
Concept of Zeros and Poles
• The concept of poles and zeros of transfer function through an
example.
• Solution
The zeros of the function are, -1, -2 and
The poles of the functions are -3, -4, -5, -2 + 4j, -2 – 4j.
Here n = 2 and m = 5, as n < m and m – n = 3, the function will have 3
zeros at s → ∞. The poles and zeros are plotted in the figure below
Ex. 2
• In the above transfer function, if the value of numerator is
zero, then,
• These are the location of zeros of the function.

Similarly, in the above transfer function, if the value of
denominator is zero, then
As the number of zeros should be equal to number of poles,

the remaining three zeros are located at s →∞.
Methods of Obtaining a Transfer
Function
• Block Diagram
– The transfer function of each element of a control
system is represented by a block diagram.
• Signal Flow Graphs
– The modified form of a block diagram is a signal flow
graph.
• Block diagram gives a pictorial representation of a
control system. Signal flow graph further shortens
the representation of a control system.
Basic system Models
• Mathematical Models
• Mechanical system building blocks
Rotational systems
Building up a mechanical system
• Electrical system building blocks
Building up a model for electrical systems
Electrical and mechanical analogies
• Fluid system building blocks
• Thermal system building blocks
Mathematical Models
• The basics for any mathematical model is provided by the
fundamental physical laws that govern the behavior of
the system.
• In order to understand the behavior of systems,

mathematical models are needed.
• Such a model is created using equations and can be used

to enable predictions to be made of the behavior of a
system under specific conditions.
Mechanical system building blocks
• The models used to represent mechanical systems have the
basic building blocks of:
• Springs: represent the stiffness of a system
• Dashpots: dashpots are the forces opposing motion, i.e. friction
or damping
• Masses: the inertia or resistance to acceleration
• All these building blocks can be considered to have a force as
an input and a displacement as an output
The moment of inertia, otherwise known as the mass
moment of inertia, angular mass or rotational inertia,
of a rigid body is a quantity that determines the torque
needed for a desired angular acceleration about a

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15ME702- Mechatronics

• A block diagram is a visualization of the control system which uses blocks to

The transfer function of the system, G(s) = I(s)/V(s), the ratio

• These are the location of zeros of the function.

As the number of zeros should be equal to number of poles,

• In order to understand the behavior of systems,

• Such a model is created using equations and can be used

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