Transfer Function and Block Diagram of Control System Transfer Function

Control I Lecture 2
Transfer Function and Block Diagram of Control System
Transfer Function
A control system consists of an output as well as an input signal. The output is related to
the input through a function called transfer function.
This function is represented by a block and the complete diagram of control system using
these blocks which represent transfer function and arrows which represent various
signals, is collectively known as block diagram of a control system. For any control
system there exist a reference input termed as excitation or cause which operates through a
transfer operation termed as transfer function and produces 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.
In Laplace Transform, if the input is represented by R(s) and output is represented by C(s),
then the transfer function will be
That is, transfer function of the system multiplied by input function gives the output function
of the system.
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.
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. Also the transfer
function of a system is represented by Laplace form by dividing output Laplace transfer
function by input Laplace transfer function. Hence a basic block diagram of a control system
can be represented as
Where, r(t) and c(t) are time domain function of input and output signal respectively.
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Control I Lecture 2
Methods of obtaining a Transfer function:

There are major two ways of obtaining a transfer function for the control system .These
ways are: 1- Block diagram method , 2- Signal Flow graphs
Transfer Function (Single-Input, Single-Output Systems).

Let us consider that the input-output relation of a linear time-invariant system is described
by the following nth-order differential equation with constant real coefficients:
(Eq.1)
The coefficients a0, a1, …… an-1 and b0, b1, …… bm are real constants. Once the input u(t)
for t >= t0 and the initial conditions of y(t) and the derivatives of y(t) are specified at the
initial time t = t0 , the output response y(t) for t >= t0 is determined by solving Eq. 1.
To obtain the transfer function of the linear system that is represented by Eq. (1), we
simply take the Laplace transform on both sides of the equation and assume zero initial
conditions. The result is
(Eq.2)
The transfer function between u(t) and y(t) is given by
(Eq.3)
Transfer Function (Multivariable Systems)

The definition of a transfer function is easily extended to a system with multiple inputs
and outputs. A system of this type is often referred to as a multivariable system. In a
multivariable system, a differential equation of the form of Eq. (1) may be used to describe
the relationship between a pair of input and output variables, when all other inputs are set to
zero. Because the principle of superposition is valid for linear systems, the total effect on any
output due to all the inputs acting simultaneously is obtained by adding up the outputs due to
each input acting alone. In general, if a linear system has p inputs and q outputs, the transfer
function between the jth input and the ith output is defined as
(Eq.4)
with Rk(s) = 0, k = 1,2, ... ,p, k≠ j. Note that Eq.(4)is defined with only the jth input in effect,
whereas the other inputs are set to zero. When all the p inputs are in action, the ith output
transform is written
(Eq.5)
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Control I Lecture 2
Block Diagram
Block Diagram is defined as a pictorial representation of functions performed by each

component of a system and that of flow of signals. Each block is characterized by an input–
output description as shown in Fig. 1.
Fig. 1 Single block diagram representation
In general, the block diagram consists of blocks, arrows, take (pick) off points and/or
summing points. Fig. 2 shows these elements of the block diagram.
Fig. 2 Basic elements of block diagram
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Control I Lecture 2
Terminology
Fig. 3 Block diagram components
Regarding the closed-loop control system shown in Fig. 3, we can define the following
terms;
Plant: A physical object to be controlled. The Plant G2 (s), is the controlled system, of
which a particular quantity or condition is to be controlled.
Feedback Control System (Closed-loop Control System): A system which compares

output to some reference input and keeps output as close as possible to this reference.
Open-loop Control System: Output of the system is not feedback to the system.
Control Element G1(s): also called the controller, are the components required to generate
the appropriate control signal M (s) applied to the plant
Feedback Element H(s): is the component required to establish the functional relationship
between the primary feedback signal B (s) and the controlled output C(s).
Reference Input R (s): is an external signal applied to a feedback control system in order to
command a specified action of the plant. It often represents ideal plant output behavior.
Controlled Output C(s): is that quantity or condition of the plant which is controlled
Actuating Signal E(s): also called the error or control action, is the algebraic sum consisting
of the reference input R (s) plus or minus (usually minus) the primary feedback B (s).
Manipulated Variable M (s) (control signal): is that quantity or condition which the
control elements G1 (s) apply to the plant G2 (s).
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Control I Lecture 2
Disturbance U (s): is an undesired input signal which affects the value of the controlled
output C(s). It may enter the plant by summation with M (s), or via an intermediate point, as
shown in the block diagram of the figure above.
Forward Path: is the transmission path from the actuating signal E(s) to the output C(s).
Feedback Path: is the transmission path from the output C(s) to the feedback signal B (s).
Summing Point: A circle with a cross is the symbol that indicates a summing point. The (+)
or (−) sign at each arrowhead indicates whether that signal is to be added or subtracted.
Branch (pick/take off) Point: A branch point is a point from which the signal from a block
goes concurrently to other blocks or summing points.
We can conclude the above information by the following definitions: According to the
control system shown in Fig .4;
Fig. 4 Block diagram of a closed-loop system with a feedback element.
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Control I Lecture 2
Transfer Function of Closed Loop Control System:
In a closed loop control system, a fraction of output is fed-back and added to input of the
system.
If H (s) is the transfer function of feedback path, then the transfer function of feedback
signal will be B(s) = C(s)H(s).
At summing point, the input signal R(s) will be added to B(s) and produces actual input
signal or error signal of the system and it is denoted by E(s).
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Control I Lecture 2
Block Diagram of Multi-Input Systems (Systems with Disturbance):

An important ease in the study of control systems is when a disturbance signal is present.
Disturbance usually adversely affects the performance of the control system by placing a
burden on the controller/actuator components. A simple block diagram with two inputs is
shown in Fig.5. In this case, one of the inputs, D(s), is known as disturbance, while R(s) is
the reference input. Before designing a proper controller for the system, it is always
important to learn the effects of D(s) on the system.
We use the method of superposition in modeling a multi-input system. Superposition:
For linear systems, the overall response of the system under
multi-inputs is the summation of the responses due to the individual inputs, i.e., in this case:
Ytotal=YR|D=0+YD|R=0 (1)
Fig. 5 Block diagram of a system undergoing disturbance
Fig. 6 Block diagram of the system in Fig. 5 when D (s) = 0.
When D(s) = 0, the block diagram is simplified (Fig. 6) to give the transfer function
(2)
When R(s) = 0, the block diagram is rearranged to give (Fig. 7):
(3)
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Control I Lecture 2
Fig. 7 Block diagram of the system in Fig. 5 when R (s) = 0.
As a result, from Eq. (1) to Eq. (3), we ultimately get
Observations: have the same denominators if the disturbance signal

goes to the forward path. The negative sign in the numerator of shows that the
disturbance signal interferes with the controller signal, and, as a result, it adversely affects
the performance of the system. Naturally, to compensate, there will be a higher burden on the
controller.
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Transfer Function and Block Diagram of Control System Transfer Function

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Control I Lecture 2

Transfer Function and Block Diagram of Control System

Methods of obtaining a Transfer function:

Transfer Function (Single-Input, Single-Output Systems).

The transfer function between u(t) and y(t) is given by

Transfer Function (Multivariable Systems)

Block Diagram is defined as a pictorial representation of functions performed by each

Fig. 1 Single block diagram representation

Fig. 2 Basic elements of block diagram

Fig. 3 Block diagram components

Feedback Control System (Closed-loop Control System): A system which compares

Fig. 4 Block diagram of a closed-loop system with a feedback element.

Transfer Function of Closed Loop Control System:

Block Diagram of Multi-Input Systems (Systems with Disturbance):

Fig. 5 Block diagram of a system undergoing disturbance

Fig. 6 Block diagram of the system in Fig. 5 when D (s) = 0.

Fig. 7 Block diagram of the system in Fig. 5 when R (s) = 0.

As a result, from Eq. (1) to Eq. (3), we ultimately get

Observations: have the same denominators if the disturbance signal

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