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Transfer Functions
Single-Input, Single-Output (SISO) Systems
o For linear systems that have a single input and a single output, we can define a single
transfer function that quantifies the dynamic behavior of the system.
o Mathematically, the transfer function is defined as the Laplace transform of the output
divided by the Laplace transform of the input, assuming all initial values are zero.
o As an example, consider the single degree-of-freedom mass, spring, damper system
shown with a forcing function f (t ) . For this system, we know that the differential
equation of motion is
mx + bx + kx = f (t )
f (t )
x
(ms 2 + bs + k ) X ( s ) = F ( s )
Given that the input is f (t ) and the output is x(t ) , the
system transfer function is defined to be
X (s)
1
= 2
F ( s ) ms + bs + k
(ms 2 + bs + k ) X ( s ) = (bs + k )Y ( s )
Given the input is y (t ) and the output is x(t ) , the system
transfer function is
X (s)
bs + k
= 2
Y ( s ) ms + bs + k
y (t )
o If the input to the system is the impulse function, (t ) , then X ( s) the Laplace
transform of the response is equal the transfer function, since F ( s) = L( (t )) = 1 .
So, the transfer function describes the impulse response of the system.
o In general, a transfer function will have the form
X ( s ) s m + bm s m1 + bm1s m2 + " + b1
=
F ( s ) s n + an s n1 + an1s n2 + " + a1
o The roots of the numerator are called the zeros of the system, and the roots of the
denominator are called the poles of the system. In this class, we will assume that the
order of the numerator is less than the order of the denominator, that is, m < n .
m1
x1 + (k1 + k2 ) x1 k2 x2 = f1 (t )
m2
x2 k2 x1 + k2 x2 = f 2 (t )
o Applying Laplace transforms to these
equations and writing the resulting
equations in matrix form gives
m1s 2 + k1 + k2
k2
X 1 ( s)
F1 ( s )
A
X
s
[
]
(
)
=
=
{
}
= { F ( s)}
F
s
(
)
m2 s 2 + k2 X 2 ( s )
2
k2
o From this equation, we define four transfer functions. Note that for the transfer
functions involving F1 ( s ) , we assume F2 ( s ) = 0 , and for the transfer functions
involving F2 ( s ) , we assume F1 ( s ) = 0 .
X 1 (s) X 1 (s) X 2 ( s)
X ( s)
,
,
, and 2 .
F1 ( s ) F2 ( s ) F1 ( s )
F2 ( s )
2
o Using Cramer's Rule we can solve the boxed equation above for X 1 ( s ) and X 2 ( s ) :
k2
F (s)
det 1
F2 ( s) m2 s 2 + k2
X 1 ( s) =
det[ A]
m s 2 + k2
k2
= 2
F1 ( s ) +
F2 ( s )
det[
A
]
det[
A
]
X 2 ( s) =
det[ A]
F1 ( s )
F2 ( s )
m1s 2 + k1 + k2
k2
=
F2 ( s )
F1 ( s) +
det[ A]
det[ A]
o From these results we can now define the four transfer functions of the system.
X 1 ( s ) m2 s 2 + k2
=
F1 ( s ) det[ A]
X 1 ( s ) k2
=
F2 ( s ) det[ A]
X 2 ( s ) k2
=
F1 ( s ) det[ A]
X 2 ( s ) m1s 2 + k1 + k2
=
F2 ( s )
det[ A]