Transfer Function

Transfer Function

C ( s)
G(s)
R( s)
C ( s ) R ( s)G ( s )

G(s) is the transfer function. It is evaluated with zero initial

conditions.

Transfer Function

Find the transfer function represented by c(t), to an input, r(t)

dc(t )
2c(t ) r (t )
dt

Taking the Laplace transform,

sC ( s ) 2C ( s ) R ( s )
The transfer function G(s), is

C ( s)
1
G( s)

R( s) s 2

Transfer Function

From the previous slide, find the response, c(t), to an input,

r(t)=u(t), a unit step, assuming zero initial condition.

Since r(t)=u(t), R(s)=1/s

C ( s) R ( s )G ( s )
Using partial fraction expansion,

C (s)

1/ 2 1/ 2

s
s2

Taking inverse Laplace,

1 1 2t
c(t ) e
2 2

1
s s 2

Transfer Function

In general, a physical system that can be

represented by a linear, time invariant
differential equation can be modeled as a
transfer function.

Transfer function can be used to represent

electrical networks, translational mechanical
systems, rotational mechanical systems, and
electromechanical systems.

Electrical Network Transfer Functions

Equivalent circuits for the electronic networks consists of 3

passive linear components: resistor, capacitor, inductor.

Table 2.3
Voltage-current, voltage-charge, and impedance relationships for
capacitors, resistors, and inductors
impedanc
e

admittanc
e

Simple Circuits via Mesh Analysis

Find transfer function relating the capacity voltage, Vc(s) to the input voltage, V(
in the figure.
Summing the voltages around the loop,
assuming zero initial conditions,

di(t )
1
L
Ri (t )
dt
C

i( )d v(t )
0

(2.61)

Changing variables from current to charge,

using dq (t )

i (t )

d 2 q(t )
dt 2

dt

dq(t ) 1
q (t ) v(t )
dt
C

From the voltage-charge relationship for a capa

q (t ) Cvc (t )
Thus,

LC

d 2 vc (t )
dt 2

RC

dvc (t )
vc (t ) v(t )
dt

Simple Circuits via Mesh Analysis (contd)

LC

d 2 vc (t )
dt 2

RC

dvc (t )
vc (t ) v(t )
dt

Taking Laplace,

( LCs 2 RCs 1)Vc ( s ) V ( s )

Solving the transfer function, Vc(s)/V(s)
Vc ( s )
1 / LC

V ( s) s 2 R s 1
L
LC

Block diagram
of series RLC electrical
network

Laplace transform of the equations in the voltagecurrent column of Table 2.3

1
V
(
s
)

I ( s)
For capacitor,
Cs

For resistor,V ( s) RI ( s )

For inductor,
V ( s) LsI ( s )
V ( s)
Z (s)
I ( s)

From previous example, Laplace transform of Eq(2.61) is

Ls R

Thus,

1
I (s) V (s)
Cs

Sum of Impedances I (s) Sum of applied voltages

Using mesh analysis without writing differentiation, yield the

same results

Ls R

1
I ( s) V ( s)
Cs

Solving for I(s)/V(s),

For capacitor, Vc ( s )
Thus,

I ( s)
1

V ( s ) Ls R 1
Cs

1
I (s)
Cs

Vc ( s )

V ( s)

Cs Ls R

Cs

R
1

LC s 2 s

L
LC

Simple Circuits via Nodal Analysis

ansfer function using current law and summing currents flowing from nodes.
ssume that currents leaving the node are positive, and currents entering the nod
e negative.

Using previous example,

Vc( s) Vc( s ) V s

0
1
R Ls
Cs

Solving the above equation for transfer function Vc(s)/V(s), yields

Vc ( s )

V (s)

1
R
1

LC s 2 s

L
LC

Simple Circuits via Voltage

Division
Transfer function using voltage division.

Using previous example,

Vc ( s )

1 / Cs
1
Ls R
Cs

V ( s)

Solving the above equation for transfer function Vc(s)/V(s), yields

Vc ( s )

V (s)

1
R
1

LC s 2 s

L
LC

In summary 4 different methods can be

used to obtain the transfer function of
simple circuits
1) Differential equation derivation using KVL
2) Using mesh analysis with Laplace
transform (without writing differential
equation)
3) Nodal analysis
4) Voltage divider/division

Complex Circuits

Example 1: Given network of Figure 2.6(a), using mesh analysis, find

transfer function, I2/V(s).

Figure 2.6
a. Two-loop electrical
network;
b. transformed
two-loop
electrical
network;
c. block diagram

Solution:
KVL around Loop 1

R1 I1 ( s) LsI1 ( s ) LsI 2 ( s ) V ( s )

KVL around Loop 2

LsI 2 ( s ) R2 I 2 ( s )

1
I 2 ( s ) LsI1 ( s ) 0
Cs

KVL around Loop 1

KVL around Loop 2

R1 I1 ( s) LsI1 ( s ) LsI 2 ( s ) V ( s )

LsI 2 ( s ) R2 I 2 ( s )

1
I 2 ( s ) LsI1 ( s ) 0
Cs

Rewrite equation above

b y

f
1 y
LsI1 ( s ) ( Ls R2 ) I 2 ( s ) 0
Cs

( R1 Ls ) I1 ( s) LsI 2 ( s ) V ( s )

sing Cramers rule to solve simultaneous equations

ax by e
cx dy f

ad bc

( R1 Ls ) V ( s )
I 2 ( s)

Ls

LsV ( s )
I 2 ( s)

( R1 Ls )
Ls

Transfer function, I2/V(s)

Ls
Ls R2

1
Cs

Complex Circuits
Example 2: Using nodal analysis for previous example, find the transfer
function, Vc(s)/V(s).
Refer to circuit in Figure 2.6(b),
VL ( s ) V ( s ) VL ( s ) VL ( s ) Vc ( s )

0
R1
Ls
R2
CsVc ( s )

Vc ( s) VL ( s )
0
R2

(1)

(2)

Rearranging and expressing the resistance as conductances, G1=1/R1 and

G2=1/R2
1

G1 G2
VL ( s ) G2Vc ( s) V ( s)G1
Ls

(1)
G2VL ( s ) G2 Cs Vc ( s ) 0

(2)

Complex Circuits
Write the mesh equations for the following network.

Complex Circuits
Sum of

Sum of

impedances I ( s ) impedances
I (s)

1
common to Mesh 1 2

around Mesh 1

and
Mesh
2

Sum of

Sum of applied

impedances
I ( s ) voltages
3

common to Mesh 1
around Mesh 1

and Mesh 3

Sum of

Sum of

impedances

I ( s ) impedances

I 2 (s)
common to Mesh1 1
around Mesh 2

and
Mesh
2

Sum of

impedances

I (s)

common to Mesh1 1

and Mesh 3

Sum of

Sum of applied

impedances
I ( s ) voltages
3

common to Mesh2
around Mesh 2

and Mesh 3

Sum of

Sum of

Sum of applied

impedances
I ( s ) impedances I ( s ) voltages
2

common to Mesh2
around Mesh 3
around Mesh 3

and Mesh 3

Complex Circuits
Mesh equations:

2 s 2 I 1 ( s ) 2 s 1 I 2 ( s ) I 3 ( s ) V( s )
2 s 1 I 1 ( s ) 9 s 1 I 2 ( s ) 4 s I 3 ( s ) 0
1

I 1 ( s ) 4 sI 2 ( s ) 4 s 1 I 3 ( s ) 0
s

Operational Amplifier

Operational amplifier is an electronic

amplifier used as a basic building
block to implement transfer functions.
It has the following characteristics:
(a) Differential input, v2(t)-v1(t)
(b) High input impedance, Zi= (ideal)
(c) Low output impedance, Z0=0
(ideal)
(d) High constant gain amplification,
A= (ideal)

Figure 2.10
a. Operational amplifier;
b. schematic for an inverting operational
amplifier;
c. Inverting operational amplifier
configured for transfer function realization.
Typically, the amplifier gain, A, is omitted.

If v2 is
grounded, the
amplifier is
called
Inverting
operational
amplifier

vo (t ) A(v2 (t ) v1 (t ))

vo (t ) Av1 (t )

Find the transfer function, Vo(s)/Vi(s) as shown in Fig.

(c).
I1(s)=Vi(s)/Z1(s), and
I2(s)=-Vo(s)/Z2(s).
Equating the two currents,

Vo ( s )
Z (s)
2
Vi ( s )
Z 1 ( s)

Operational Amplifier
Find the transfer function, Vo(s)/Vi(s) for the circuit given below:

Z1 ( s )

Z1 ( s )

1
C1s

1
R1
1

5.6 10 6 s

1
360 103

360 103
Z1 ( s )
2.016s 1
7
1
10
Z 2 ( s ) R2
220 10 3
C2 s
s

Since

Vo ( s )
Z (s)
2
Vi ( s )
Z 1 ( s)

Vo ( s )
s 2 45.95s 22.55
1.232
Vi ( s)
s

TRANSLATIONAL MECHANICAL SYSTEMS

There are analogies between electrical and
mechanical system:
Mechanical force is analogous to electrical
voltage
Mechanical velocity is analogous to electrical
current
Mechanical displacement is analogous to
electrical charge
Spring is analogous to capacitor
Viscous damper is analogous to resistor
Mass is analogous to inductor

ELECTRICAL COMPONENTS
Component

Voltagecurrent

Currentvoltage

Voltagecharge

Impedance, Admittance,
Z(s)=V(s)/I(s Y(s)=I(s)/V(
)
s)

Mechanical Components

Mechanical Systems
Example: Find the transfer function, X(s)/F(s), for the system in
(a):

Solution:
1) Draw the free-body diagram
2) Place on the mass all forces felt by the mass
3) Assume that mass is travelling toward the right
4) All other forces act in opposite direction

d 2 x(t )
dt 2

fv

dx(t )
Kx(t ) f (t )
dt

Take Laplace Transform,

Ms 2 X ( s) f v sX ( s) KX ( s ) F ( s )
( Ms 2 f v s K ) X ( s ) F ( s )

Solving the transfer function,

G(s)

X ( s)
1

F ( s ) Ms 2 f v s K

Mechanical Systems-Two degrees of freedom

Find the transfer function, X2(s)/F(s), for the system in (a):

The forces on M1 are due to (1) its own motion and (2) the motion of M2
transmitted to M1 through the system.
If we hold M2 still and move M1 to the right, we will see forces shown in
Fig. 2.18(a).
If we hold M1 still and move M2 to the right, we will see forces shown in
Fig. 2.18(b).
The total force on M1 is the superposition, or sum of the forces just
discussed. It is shown in Fig. 2.18(c).

a. Forces on M1 due only to motion of M1 b. forces on M1 due only to

motion of M2 c. all forces on M1

[ M 1s 2 ( f v1 f v 3 ) s ( K1 K 2 )] X 1 ( s) ( f v 3 s K 2 ) X 2 ( s ) F ( s)

a. Forces on M2 due only to motion of M2; b. forces on

M2 due only to motion of M1; c. all forces on M2

[ M 1s 2 ( f v1 f v 3 ) s ( K1 K 2 )] X 1 ( s ) ( f v 3 s K 2 ) X 2 ( s ) F ( s )
( f v 3 K 2 ) X 1 s [ M 2 s 2 ( f v 2 f v 3 ) s ( K 2 K 3 )] X 2 ( s ) 0

(1)
(2)

Solving the transfer function,

( f s K 2)
X 2 (s)
G (s) v3
F ( s)

[ M 1 s 2 ( f v1 f v 3 ) s ( K 1 K 2 )]

[ M 2 s 2 ( f v 2 f v 3 ) s ( K 2 K 3 )]

-(f v 3 s K 2)
Sum of
impedances

connected

to the motion
at x1

-(f v 3 s K 2 )

Sum of

Sum of

impedances
X ( s ) applied forces
X 1 ( s)

between 2
at x1

x
and
x
2
1

Sum of

Sum of

impedances
Sum of

impedances

X ( s ) connected X ( s ) applied forces

between 1

at x2

to the motion

x1 and x2
at x2

(1)

(2)

Mechanical Systems

Write the equations of motion for the mechanical network of Figure below:

 Sum of
impedances

connected

to the motion
at x1

Sum of

impedances

between

x
and
x
2
1

Sum of

impedances
X (s)
X 1 (s)
between 2

x
and
x
2
1

Sum of
impedances

X 1 ( s ) connected

to the motion
at x2

Sum of

impedances

X (s)

between 1

x
and
x
3
1

Sum of

impedances
between
x2 and x3

Sum of

Sum of

impedances
X 3 ( s ) applied forces
between
at x1

x1 and x3
(1)

Sum of

Sum of

impedances
X ( s ) applied forces
X 2 (s)

between 3
at x2

x2 and x3

(2)

Sum of

impedances
Sum of

X 2 ( s ) connected X 3 ( s ) applied forces

at x3

to the motion
at x3

(3)

Equations of motion:

[ M 1 s 2 ( f v 1 f v 3 ) s ( K 1 K 2 )] X 1 ( s ) K 2 X 2 ( s ) f v 3 sX 3 ( s ) 0
(1)
K 2 X 1 s [ M 2 s 2 ( f v 2 f v 4 ) s K 2 ] X 2 ( s ) f v 4 sX 3 ( s ) F ( s )
(2)
f v 3 sX 1 s f v 4 sX 2 ( s ) [ M 3 s 2 ( f v 3 f v 4 ) s ] X 3 ( s ) 0
(3)

Electric Circuit Analogs

verting mechanical systems to electrical networks before writing the des

uations is an alternative problem solving approach.

electric circuit that is analogous to a system from another discipline is ca

tric circuit analog.

en compared with mesh equations, the resulting electrical circuit is called

es analog.

en compared with nodal equations, the resulting electrical circuit is called

allel analog.

Series Analog

Figure 2.41
Development of series analog: a. mechanical system;b. desired electrical
representation; c. series analog; d.parameters for series analog

Consider the mechanical system in Figure 2.41(a):

( Ms 2 f v s K ) X ( s ) F ( s )

Kirchhoffs mesh equation for the simple RLC network in Figure 2.41(b):

1
( Ls R ) I ( s) E ( s )
Cs
Displacement and current are not analogous. A direct analogy can be
created by converting displacement to velocity by dividing and
multiplying the left hand side by s, yielding

( Ms 2 f v s K )
sX ( s ) F ( s )
s
K
( Ms f v )V ( s ) F ( s )
s

omparing the equations, the sum of impedance is recognized and a circuit show
n Figure 2.41 (c) can be drawn.

Parallel Analog

Figure 2.43
Development of parallel analog: a. mechanical system; b. desired
electrical representation; c. parallel analog; d. parameters for parallel analog

Parallel Analog
Consider mechanical system in Figure 2.43 (a), whose equation of motion is:

( Ms f v

K
)V ( s ) F ( s )
s

Kirchhoffs nodal equation for a simple RLC network in Figure 2.43 (b) is:

1 1
( Cs) E ( s) I ( s )
Ls R
Identify the sum of admittance and a circuit in Figure 2.43 (c) can be drawn.