Transfer Function

Transfer Function of a control

system

1
 Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output (response function) to the Laplace transform of
the input (driving function). Considering the initial
conditions are zero.

u(t) y(t)
Plant

If u(t )  U ( S ) and
y(t )  Y ( S )
• Where () or (ℒ) is the Laplace operator.
2
 Transfer Function
• Then the transfer function G(S) of the plant or
(system) is given as:

Y (S )
G( S ) 
U (S )

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

3
How you can obtain the transfer function (T. F.)?

1- Write the differential equation of the system.

2- Take the Laplace Transform of the differential

equation, assuming all initial conditions to be zero.

3- Take the ratio of the output to the input. This ratio

represents the Transfer Function. .
4
 Why Laplace Transform?
• By using the Laplace transform we can convert many
common functions into algebraic function of complex
variable (s).
• For example:
A As
A sin t  2 A cos t  2
s  2
s 2

 at A A
Ae  At 
sa s
2

• Where s is a complex variable (complex frequency) and

is given as:
s    j 5
 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
6
 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.

7
 Laplace Transform of Integrals

1
  x(t )dt  X ( S )
s

• The integral in time domain becomes division

by s in frequency domain.

8
 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 for both sides:

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

9
 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 the Initial conditions are zero in order to find the

transfer function of the system:

As 2 X ( s )  CsY ( s )  BsX ( s )
• Rearranging the above equation yields:

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
10
 Transfer Function
• In general

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

the system.

11
 Transfer Function

• When the order of the denominator polynomials is greater

than the numerator polynomials, the transfer function is
said to be ‘proper’. (P˃Z)

• Otherwise the transfer function is said to be ‘improper’

(Z ˃P)

12
 Transfer Function
• Transfer function helps us to check:

– The stability of the system from the characteristic equation.

– The time domain and frequency domain characteristics of the

system

– Response of the system for any given input.

– The T.F. is defined only for linear time invarient LTI systems.

13
 Stability of Control System

• There are several meanings of stability. In general, there are two kinds of
the stability definitions in control system study:
– Absolute Stability
– Relative Stability

• Roots of denominator polynomials of a transfer function are

called ‘poles’.
• And the roots of numerator polynomials of a transfer function
are called ‘zeros’.

14
 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 a transfer function represents nth
order of a plant:

15
 Stability of Control System
• Pole is also defined as “it is the frequency at which
system becomes infinite”. Hence, the pole where
field is infinite.

• And zero is the frequency at which system becomes

zero “0”.

16
 Relation b/w poles and zeros and frequency
response of the system
• The relationship between poles and zeros and the frequency
response of a system comes alive with this 3D pole-zero plot.

Single pole system

17
Relation b/w poles and zeros and frequency
response of the system
• 3D pole-zero plot
– System has 1 ‘zero’ and 2 ‘poles’.

18
Relation b/w poles and zeros and frequency
response of the system

19
 Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
in order to check the stability of the system.
j

LHP RHP

Recall s    j


s-plane

20
 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
21
 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
22
 Another definition of Stability
• The system is said to be stable if for any bounded
input, the output of the system is also bounded
(BIBO).
• Thus, for any bounded input, the output either
remain constant or decrease with time.
u(t) overshoot
y(t)
1

Plant 1
t
t
Unit Step Input
Output
23
 Another definition of Stability
• If for any bounded input, the output is not
bounded, the system is said to be unstable.

u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output

24
 BIBO vs Transfer Function
• For example
Y ( s) 1 Y ( s) 1
G1 ( s)   G2 ( s)  
U ( s) s  3 U ( s) s  3
Pole-Zero Map Pole-Zero Map
4 4
unstable
3 stable 3

2 2

1 1
Imaginary Axis

Imaginary Axis
0 0

-1 -1

-2 -2

-3 -3

-4 -4
-4 -2 0 2 4 -4 -2 0 2 4
Real Axis Real Axis
 BIBO vs Transfer Function

Y ( s) 1 Y ( s) 1
G1 ( s)   G2 ( s)  
U ( s) s  3 U ( s) s  3

1 Y ( s)
1 1 1 Y ( s) 1
 G1 ( s)    1
 G2 ( s)   1
 1
U (s) s3 U ( s) s 3
 y (t )  e 3t u (t )  y (t )  e3t u (t )
 BIBO vs Transfer Function

3t
y(t )  e u(t ) y(t )  e3t u(t )
12
exp(-3t)*u(t) x 10 exp(3t)*u(t)
1 12

10
0.8

8
0.6
6
0.4
4

0.2
2

0 0
0 1 2 3 4 0 2 4 6 8 10
 BIBO vs Transfer Function
• Whenever one or more than one pole are in
RHP, the solution of dynamic equations
contains increasing exponential terms, such as e 3t

• That makes the response of the system

unbounded, and hence the overall response of
the system is unstable.