Republic of the Philippines

Laguna State Polytechnic University

Province of Laguna

Control Engineering

Prepared by: Mark David B. Opelinia, ME

Part Time Instructor LSPU-SCC
Mechanical Engineering Department
TOPIC 3: TRANSFER FUNCTION and BLOCK
DIAGRAM
• The transfer function of a linear, time-invariant,
differential equation system is defined as the ratio of the
Laplace transform of the output (response function) to
the Laplace transform of the input (driving function)
under the assumption that all initial conditions are zero.
• By using the concept of transfer function, it is possible to
represent system dynamics by algebraic equations in s. If
the highest power of s in the denominator of the transfer
function is equal to n, the system is called an nth-order
system.
• Comments on Transfer Function. The applicability of
the concept of the transfer function is limited to linear,
time-invariant, differential equation systems.The transfer
function approach, however, is extensively used in the
analysis and design of such systems. In what follows, we
shall list important comments concerning the transfer
function.
• 1. The transfer function of a system is a mathematical model in that it is
an operational method of expressing the differential equation that
relates the output variable to the input variable.
• 2. The transfer function is a property of a system itself, independent of
the magnitude and nature of the input or driving function.
• 3. The transfer function includes the units necessary to relate the input
to the output; however, it does not provide any information concerning
the physical structure of the system. (The transfer functions of many
physically different systems can be identical.)
• 4. If the transfer function of a system is known, the output or response
can be studied for various forms of inputs with a view toward
understanding the nature of the system.
• 5. If the transfer function of a system is unknown, it may be established
experimentally by introducing known inputs and studying the output of
the system. Once established, a transfer function gives a full
description of the dynamic characteristics of the system, as distinct
from its physical description.
• AUTOMATIC CONTROL SYSTEMS
– A control system may consist of a number of components. To
show the functions performed by each component, in control
engineering, we commonly use a diagram called the block
diagram.
– Block Diagrams. A block diagram of a system is a pictorial
representation of the functions performed by each component and
of the flow of signals. Such a diagram depicts the interrelationships
that exist among the various components. Differing from a purely
abstract mathematical representation, a block diagram has the
advantage of indicating more realistically the signal flows of the
actual system.
• In a block diagram all system variables are linked to each other through
functional blocks. The functional block or simply block is a symbol for
the mathematical operation on the input signal to the block that
produces the output.The transfer functions of the components are
usually entered in the corresponding blocks, which are connected by
arrows to indicate the direction of the flow of signals.
• Summing Point. A circle with a cross is the symbol that indicates a
summing operation. The plus or minus sign at each arrowhead
indicates whether that signal is to be added or subtracted. It is
important that the quantities being added or subtracted have the same
dimensions and the same units.
• Branch Point. A branch point is a point from which the signal from a
block goes concurrently to other blocks or summing points.
• Block Diagram of a Closed-Loop System. The figure below shows an
example of a block diagram of a closed-loop system. The output C(s) is
fed back to the summing point, where it is compared with the reference
input R(s). The closed-loop nature of the system is clearly indicated by
the figure.The output of the block, C(s) in this case, is obtained by
multiplying the transfer function G(s) by the input to the block, E(s).Any
linear control system may be represented by a block diagram
consisting of blocks, summing points, and branch points.
• When the output is fed back to the summing point for comparison with
the input, it is necessary to convert the form of the output signal to that
of the input signal. For example, in a temperature control system, the
output signal is usually the controlled temperature.The output signal,
which has the dimension of temperature, must be converted to a force
or position or voltage before it can be compared with the input signal.
This conversion is accomplished by the feedback element whose
transfer function is H(s), as shown in the figure below.The role of the
feedback element is to modify the output before it is compared with the
input. (In most cases the feedback element is a sensor that measures
the output of the plant.The output of the sensor is compared with the
system input, and the actuating error signal is generated.) In the
present example, the feedback signal that is fed back to the summing
point for comparison with the input is B(s) = H(s)C(s).
– Open-Loop Transfer Function and Feedforward Transfer
Function.
• The ratio of the feedback signal B(s) to the actuating error signal
E(s) is called the open-loop transfer function.That is,
• The ratio of the output C(s) to the actuating error signal E(s) is called
the feedforward transfer function, so that

*If the feedback transfer function H(s) is unity, then the open-loop
transfer function and the feedforward transfer function are the same.
• Closed-Loop Transfer Function. The output C(s) and input R(s) are
related as follows: since
• The transfer function relating C(s) to R(s) is called the closed-loop
transfer function. It relates the closed-loop system dynamics to the
dynamics of the feedforward elements and feedback elements. C(s)
is given by

Thus the output of the closed-loop system clearly depends on both the
closed-loop transfer function and the nature of the input.
Topologies

• We will now examine some common topologies for

interconnecting subsystems and derive the single transfer
function representation for each of them.

• These common topologies will form the basis for reducing

more complicated systems to a single block.
Cascade

• Any finite number of blocks in series may be algebraically

combined by multiplication of transfer functions.

• That is, n components or blocks with transfer functions

G1 , G2, . . . , Gn, connected in cascade are equivalent to
a single element G with a transfer function given by
Example:

• Multiplication of transfer functions is commutative; that is,

GiGj = GjGi
for any i or j .
Figure:
a) Cascaded Subsystems.
b) Equivalent Transfer Function.

The equivalent transfer function is

Parallel Form:

• Parallel subsystems have a common input and an output

formed by the algebraic sum of the outputs from all of the
subsystems.

Figure: Parallel Subsystems.

 Figure:
a) Parallel Subsystems.
b) Equivalent Transfer Function.

The equivalent transfer function is

Feedback Form:
• The third topology is the feedback form. Let us derive the transfer function that
represents the system from its input to its output. The typical feedback system,
shown in figure:

Figure: Feedback (Closed Loop) Control System.

The system is said to have negative feedback if the sign at the summing junction is
negative and positive feedback if the sign is positive.
Figure:
a) Feedback Control System.
b) Simplified Model or Canonical Form.
c) Equivalent Transfer Function.

The equivalent or closed-loop

transfer function is
Reduction Technique
1. Combining blocks in cascade

G1 G2 G 1G 2

2. Combining blocks in parallel

G1
G1  G 2
G2
3. Moving a summing point behind a block

G G
G
4. Moving a summing point ahead of a block

G G
1
G

5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G
7. Eliminating a Feedback Loop

8. Swapping with two adjacent summing points

Block Diagram Transformation Theorems

The letter P is used to represent any transfer function, and W, X , Y, Z denote any
transformed signals.
Reduction of Complicated Block Diagrams:
Example: Reduce the Block Diagram to Canonical Form.
 However in this example step-4 does not apply.

However in this example step-6 does not apply.