2.

5 The Transfer Function

of Linear Systems

Types of mathematical models of systems

Differential equations
Transfer function
Block diagramSignal flow graph
State variables(modern control theory)

2.5 The Transfer Function

output

input
r(t)

of Linear Systems

Linear system

y(t)

The transfer function of a linear system is

defined as the ratio of the Laplace transform of
the output variable to the Laplace transform
of the input variable, with all initial conditions
assume to be zero.
Y ( s)
G( s)
R( s)

Example: RC network
According to Kirchhoffs voltage law:

u Ri u
r
c
1
uc
C

idt

duc
RC
uc u r
dt

duc 1
i
dt
C

( RCs 1)U c (s) U r (s)

duc
C
i
dt

input

uc

output

U c ( s)
1

U r ( s) RCs 1
The Transfer Function

Note:
The Transfer Function:
Only for the linear time-invariant systems
(constant parameter).
Zero initial conditions.
Dependent on the configuration and the
coefficients of the systems,

Independent on the input and output variables.

Steps to obtain the transfer function

Write the differential equations of the

control system, and assume zero initial
conditions;
Make Laplace transformation, transform the
differential equations into the relevant
algebraic equations;
Deduce: G(s)=C(s)/R(s).

Review:
Steps to obtain the differential equation of control systems
1) Determine the output and input variables of the control systems.
2) Write the differential equations of each systems components in terms of the
physical laws of the components.
* necessary assumption and neglect.
* proper approximation.
3) Dispel the intermediate(across) variables to get the input-output description
which only contains the output and input variables.
4) Formalize the input-output equation to be the standard form:
Input variable on the right of the input-output equation .
Output variable on the left of the input-output equation.
Writing polynomial according to the falling-power order.

The linear time-invariant system is described by

the following equation (General form)
dn
d n 1
dy
y a1 n 1 y an 1
an y
n
dt
dt
dt
dm
d m 1
dr
b0 m r b1 m 1 r bm 1
bm r
dt
dt
dt

The transfer function is

b0 s m b1s m 1 bm 1s bm
Y ( s)

R( s )
s n a1s n 1 an 1s an

2.6 Block Diagram Models

Block diagrams consist of unidirectional, operational

blocks that represent the transfer function of the
variables of interest.
The block diagram models are more intuitive than the
transfer function or differential equation models and may
provide control engineers with a better understanding of
the composition and interconnection of the components of
a system.
R

C
G(s)

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

Block diagram representation of the control systems

Signal
(variable)

X(s)

Component
(device)

G(s)

X3(s)
Adder (comparison)
E(s)=x1(s)+x3(s)-x2(s)

Comparator performs addition and subtraction

Branch point or Pickoff Point

X1(s) + +

E(s)

X2(s)
X (s)
X (s)

Combining Serial Blocks

cascaded blocks
X

G1

G2

Y (s) G2 (s)U (s) G2 (s)G1 (s) X (s)

G1
X

G1G2

G2

G1G2 Gn

Gn
Y

Y s
Gs G1s G 2s
X s

n
Y s
s
Gs Gi s
X s
i 1

Combining Parallel Blocks

X

G1

G2

Y (s) G1 (s) X (s) G2 (s) X (s) (G1 (s) G2 (s)) X (s)

G1 G2

X
s

Y s

X s

G(s ) G1(s ) G 2(s )

Combining Parallel Blocks

G1

X
G2

Gn

Y1
Y

Y2

G1 G2
G
n

Yn

n
Y s
s
Gs Gi s
X s
i 1

Closing a feedback loop

E
X

Y ( s) G( s) * E ( s)

G( s)[ X ( s) H ( s)Y ( s)]

Y (s)[1 G(s) H (s)] G(s) X (s)

G( s)
Y ( s)
X ( s)
1 G( s) H ( s)
X

G
1 GH

Block Diagram Reduction

Moving a comparator to make the block diagram
reduction process simpler

Past block

ahead of a block
X

Y
X

Y
Z

G
1/G

Block Diagram Reduction

Moving a branch point to make the block diagram
reduction process simpler

ahead of a block

past block
X

Y
G

X
Y

X
X

G
1/G

Block Diagram Reduction

Interchanging make the block diagram reduction process simpler

The neighboring camparators

x3

x1

x3
x1

x2

Y X1 X 2 X 3 X1 X 3 X 2

x2

The neighboring branch points

y

y
x1

x2

x1

x2

Neighboring camparator and branch point can not be interchanged!

Block Diagram Reduction

H2
R

G1

G4

G3

G2

H1

H3

Block Diagram Reduction

H2
R

G1

G3

G2

G4

G4

H1

H3
H2
G4

G1

G3

G2

H1
H3

Block Diagram Reduction

H2
G4

G1

G4

G3G4
1 G3G4 H1

G3

G2

H1

H3
H2
G4

G1

G2

H3

Block Diagram Reduction

H2
G4

G1

G3G4
1 G3G4 H1

G2

H3

G1

G2G3G4
1 G3G4 H1 G2G3 H 2

H3

Block Diagram Reduction

G1

G2G3G4
1 G3G4 H1 G2G3 H 2

H3

G1G2G3G4
1 G3G4 H1 G2G3 H 2 G1G2G3G4 H 3