Modeling and Simulation in

Mechanical Systems (MT331)

Lecture-2
Transfer Function and stability of LTI systems

Dr. Khalil A. Ibrahim Dr. Gamal Abdelnasser

Associate Professor Assistant Professor

Mechanical Department Mechanical Department
email: khalil.Ibrahim@aun.edu.eg email: gamal@aun.edu.eg
 Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input.
Considering all initial conditions to zero.
u(t) y(t)
Plant

If u(t ) U (S ) and
y(t ) Y (S )

• Where  is the Laplace operator.

2
 Definition of Laplace transform

Consider a continuous time variable y(t); 0  t < . The Laplace transform

pair associated with y(t) is defined as
Properties of Laplace transform
 Transfer Function
• Then the transfer function G(S) of the plant is given
as
Y (S )
G(S ) 
U (S )

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

5
 Why Laplace Transform?
• By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
• For example

sint  2 2
s 
Or 1
 at
e 
sa
• Where s is a complex variable (complex frequency) and
is given as s   j 6
 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
7
 Laplace Transform of Derivatives
• In general

n
d x(t ) n n 1 n 1
 n
 s X (S )  s x(0)    x (0 )
dt

• Where x(0) is the initial condition of the system.

8
 Example: RC Circuit

• u is the input voltage applied at t=0

• y is the capacitor voltage

• If the capacitor is not already charged then

y(0)=0.

9
 Laplace Transform of Integrals

1
x(t )dt  X (S )
s

• The time domain integral becomes division by

s in frequency domain.

10
 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 on either sides

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

11
 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 Initial conditions to zero in order to find the transfer

function of the system

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

As 2 X (s )  BsX (s ) CsY (s )
X (s )[ As 2  Bs ] CsY (s )
X (s ) Cs C
 2 
Y (s ) As  Bs As  B 12
 Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.

Figure-1

2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.

6u''(t )  3u(t )  y(t )dt   3 y'''(t )  y(t )

13
 Transfer Function
• In general

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

the system.

14
 Transfer Function

• When order of the denominator polynomial is greater

than the numerator polynomial the transfer function is
said to be ‘proper’.

• Otherwise ‘improper’

15
 Transfer Function
• Transfer function helps us to check

– The stability of the system

– Time domain and frequency domain characteristics of the

system

– Response of the system for any given input

16
 Stability of Control System

• Roots of denominator polynomial of a transfer

function are called ‘poles’.

• And the roots of numerator polynomials of a

transfer function are called ‘zeros’.

17
 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 transfer function represents nth
order plant.

18
 Example
• Consider the Transfer function calculated in previous
slides.
X (s ) C
G(s )  
Y (s ) As  B

the denominato r polynomial is As  B 0

• The only pole of the system is

B
s 
A

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 Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system

s 3 s
)i G(s )  )ii G(s ) 
s( s  2 ) (s  1)(s  2 )(s  3)

(s  3)2 s 2 (s  1)
)iii G(s )  )iv G( s ) 
s(s 2  10) s(s  10)
20
21
22
 Inverse Laplace Transforms
Background:

To find the inverse Laplace transform we use transform pairs

along with partial fraction expansion:

F(s) can be written as;

P( s)
F ( s) 
Q( s )

Where P(s) & Q(s) are polynomials in the Laplace variable, s.

We assume the order of Q(s) P(s), in order to be in proper

form. If F(s) is not in proper form we use long division and
divide Q(s) into P(s) until we get a remaining ratio of polynomials
that are in proper form.
 Inverse Laplace Transforms
Background:

There are three cases to consider in doing the partial fraction expansion of F(s).
Case 1: F(s) has all non repeated simple roots.

k1 k2 kn
F ( s)   ...
s  p1 s  p2 s  pn

Case 2: F(s) has complex poles:

P1 ( s ) k1 k1*
F ( s)     . . .  (expanded)
Q1 ( s )( s    j )( s    j ) s    j s    j )

Case 3: F(s) has repeated poles.

P1 ( s ) k11 k12 k1r P1 ( s )

F ( s)  r
  2
... r
... (expanded)
Q1 ( s )( s  p1 ) s  p1 ( s  p ) ( s  p ) Q1 ( s )
1 1
 Inverse Laplace Transforms
Case 1: Illustration:

Given:
4( s  2) A1 A2 A3
F ( s)    
( s  1)( s  4)( s  10) ( s  1) ( s  4) ( s  10)

Find A1, A2, A3 from Heavyside

( s  1)4( s  2) ( s  4)4( s  2)
A1  |  4 27 A2  | 4 9
( s  1)( s  4)( s  10) s  1 ( s  1)( s  4)( s  10) s  4

( s  10)4( s  2)
A3  |   16 27
( s  1)( s  4)( s  10) s  10


f ( t )  (4 27)e  t  (4 9)e  4 t  (  16 27)e  10 t u( t ) 
 Inverse Laplace Transforms
Case 3: Repeated roots.

When we have repeated roots we find the coefficients of the

terms as follows:

k
d

 ( s  p1 ) r F ( s ) | s  p
1r  1 ds

1

k 
d2
1r  2 2! ds 2
( s  p1
) r
F ( s ) | s  p
1

r j
k
1j

d
r j
( s  p ) F ( s)|s  p1
1
r
( r  j )! ds
 Inverse Laplace Transforms
Case 3: Repeated roots. Example

( s  1) A1 K1 K2
F ( s)  2
  
s( s  3) s ( s  3) ( s  3) 2

A1 

K1 

K2 

f ( t ) ______
?   ______
? e  3 t  ________
? te  3 t  u(t )
 Inverse Laplace Transforms
Case 2: Complex Roots: F(s) is of the form;

P1 ( s ) K1 K 1*
F ( s)    ...
Q1 ( s )( s    j )( s    j ) s    j s    j )

K1 is given by,

( s    j ) P1 ( s )
K1  |s    j
Q1 ( s ) ( s    j )( s    j )

j
K 1  | K 1 |  | K 1 | e
 Inverse Laplace Transforms
Case 2: Complex Roots:
j  j
K1 K 1* | K1 | e | K 1e
  
s    j s    j s    j s    j

 | K | e j | K | e
 j 
 1 1 1   j   t j t  j    t  j t 
L  | K |  e e e e e e 
 s    j s    j  1  
 

 e j ( t   )  e j ( t   ) 
 j j t  j   t  j t 
| K |  e e  t e e e e  2 | K | e  at  
1  1  2 
 
 Inverse Laplace Transforms
Case 2: Complex Roots:

Therefore:

 | K | e j | K e
 j 
L 1  1  1   2 | K | e  t cos( t   )
 s    j s    j  1
 

You should put this in your memory:

 Inverse Laplace Transforms
Complex Roots: An Example.

For the given F(s) find f(t)

( s  1) ( s  1)
F ( s)  
s( s 2  4 s  5) s( s  2  j )( s  2  j )

A K1 K 1*
F ( s)   
s s2 j s2 j

( s  1) 1
A  | 
( s 2  4 s  5) | s 0 5

( s  1)  2  j 1
K1  || s  2  j  0.32  108o
s( s  2  j ) (  2  j )( 2 j )
 Inverse Laplace Transforms
Complex Roots: An Example. (continued)

We then have;

0.2 0.32  108o 0.32  108o

F ( s)   
s s2 j s2 j

Recalling the form of the inverse for complex roots;


f ( t )  0.2  0.64 e  2 t cos( t  108o u( t ) 
 Inverse Laplace Transforms

Convolution Integral:

Consider that we have the following situation.

System
x(t) y(t)
h(t)

x(t) is the input to the system.

h(t) is the impulse response of the system.
y(t) is the output of the system.

We will look at how the above is related in the time domain

and in the Laplace transform.
 Inverse Laplace Transforms
Convolution Integral:

In the time domain we can write the following:

 t  t
y( t ) x ( t )  h( t )  x ( t   )h( )d  h( t   ) x( )d
 0  0

In this case x(t) and h(t) are said to be convolved and the
integral on the right is called the convolution integral.

It can be shown that,

L x ( t )  h( t ) Y ( s )  X ( s ) H s 
This is very important

* note
 Inverse Laplace Transforms
Convolution Integral:

Through an example let us see how the convolution integral

and the Laplace transform are related.

We now think of the following situation:

h(t)
x(t) y(t)
 4t
e

H(s)
X(s) Y(s)
1
( s  4)
 Inverse Laplace Transforms
Convolution Integral:
From the previous diagram we note the following:

X ( s ) L x ( t ); Y ( s ) L y( t ); H ( s ) Lh( t )

h(t) is called the system impulse response for the following
reason.

Y ( s ) X ( s ) H ( s ) Eq A

If the input x(t) is a unit impulse, (t), the L(x(t)) = X(s) = 1.

Since x(t) is an impulse, we say that y(t) is the impulse
response. From Eq A, if X(s) = 1, then Y(s) = H(s). Since,

L 1 Y ( s )  y( t ) impulse response  L 1  H ( s )h( t )

So, h( t )  system impulse response .
 Inverse Laplace Transforms
Convolution Integral:

A really important thing here is that anytime you are given

a system diagram as follows,

X(s) Y(s)
H(s)

the inverse Laplace transform of H(s) is the system’s

impulse response.

This is important !!
 Inverse Laplace Transforms
Convolution Integral:

Example using the convolution integral.

x(t) y(t) = ?

e-4t

 t t
 4( t   )  4( t   )
y( t )   e u( )d e d e  4 t e 4 d
 0 0

t
 4t 4  4t 1 4  t  1 1  4 t 
y( t ) e e d e e | 0   e  u( t )
0 4 4 4 
 Inverse Laplace Transforms
Convolution Integral:

Same example but using Laplace.

x(t) = u(t) 1
X ( s) 
s

h(t) = e-4tu(t) 1
H ( s) 
s4

1 A B 14 14
Y ( s)     
s( s  4) s s  4 s s4

1
y( t )  1  e  4 t  u( t )
4
 Inverse Laplace Transforms
Convolution Integral:

Practice problems:

2 3
(a ) If X ( s )  and Y ( s )  , what is h( t ) ?
s ( s  2)

h( t ) 1.5  ( t )  2e  2 t u( t ) 
(b ) If x ( t ) u( t ) and y( t ) te  6 t u( t ), find h( t ).

2
(c ) If x ( t ) tu( t ) and H ( s )  2
, find y( t ).
( s  4)

Answers given on note page

 Inverse Laplace Transforms
Circuit theory problem:

You are given the circuit shown below.

t=0 6k 
 

+ +
12 V _ v(t) 3k 
_ 1 0 0 F

Use Laplace transforms to find v(t) for t > 0.

 Inverse Laplace Transforms
Circuit theory problem:

We see from the circuit,

t=0 6k
 

+ +
12 V _ v(t) 3k
_ 1 0 0 F

3
v (0) 12 x  4 volts
9
 Inverse Laplace Transforms
Circuit theory problem:
dvc ( t )
RC  vc (t )  0
dt
+ 3k  6k 
v c (t)
v c t 
i(t)
_ 1 0 0 F dvc ( t )
 0
dt RC

dvc ( t )
Take the Laplace transform
of this equations including
 5v c t   0
the initial conditions on vc(t)
dt
 Inverse Laplace Transforms
Circuit theory problem:

dvc ( t )
 5 vc ( t ) 0
dt

sVc ( s )  4  5Vc ( s )  0

4
Vc ( s ) 
s5

vc ( t )  4 e  5 t u( t )
Example
Recall that the ODE, 
y  6 y  11 y  6 y 1, with zero initial
conditions resulted in the expression
1
Y s   (3-40)
 3 2
s s  6 s  11s  6 
The denominator can be factored as

 
s s 3  6 s 2  11s  6 s s  1s  2 s  3 (3-50)
Note: Normally, numerical techniques are required in order to
calculate the roots.
The PFE for (3-40) is
1 1  2 3 4
Y s       (3-51)
s s  1s  2 s  3 s s  1 s  2 s  3
45