ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Chapter 4
Transfer Function
Approach to Modeling
Dynamic Systems
A. Bazoune

4.1 INTRODUCTION
Transfer functions (TF)are frequently used to characterize the input-output
relationships or systems that can be described by Linear Time-Invariant (LTI)
differential equations.

Transfer Function (TF). The transfer function (TF) of

a LTI differential-equation system is defined as the ratio of the Laplace
transform (LT) of the output (response function) to the Laplace transform
(LT) of the input (driving function) under the assumption that all initial
conditions are zero.

Consider the LTI system defined by the differential equation

(n) ( n −1 ) (m) ( m −1 )

a0 y + a1 y +  + an −1 y
+ an y = b0 x + b1 x +  + bm −1 x
+ bm x (n ≥ m) (4-1)

where y is the output and x is the input. The TF of this system is the ratio
of the Laplace-transformed output to the Laplace-transformed input when all
initial conditions are zero, or

L [ output ]
Transfer Function (TF) = G ( s ) =
L [ input ] zero initial conditions

(4-2)
Y (s)
m m −1
b0 s + b1 s +  + bm −1 s + bm
= =
X (s)
n n −1
a0 s + a1 s +  + an −1 s + an

The above equation can be represented by the following graphical

representation:

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

b0sm + b1sm−1 +  + bm−1s + bm

X (s ) Y (s )
  a0sn + a1sn−1 +  + an−1s + an 
In p u t Output

    
Transfer Function
Figure 4-1. Block diagram representation of a transfer function

Comments on the Transfer Function (TF). The

applicability of the concept of the Transfer Function (TF) is limited to LTI
differential equation systems. The following list gives some important
comments concerning the TF of a system described by a LTI differential
equation:

1. The TF of a system is a mathematical model of that system, in that it

is an operational method of expressing the differential equation that
relates the output variable to the input variable.

2. The TF is a property of a system itself, unrelated to the magnitude and

nature of the input or driving function.

3. The TF includes the units necessary to relate the input to the output;
however it does not provide any information concerning the physical
structure of the system. (The TF of many physically different systems
can be identified).

4. if the TF of a system is known , the output or response can be studied

for various forms of inputs with a view toward understanding the
nature of the system.

5. If the TF of a system is unknown, it may be established experimentally

by introducing known inputs and studying the output of the system.
Once established, a TF gives a full description of the dynamic
characteristics of the system, as distinct from its physical description

Example 4-1

Consider the mechanical system shown in Figure 4-2. The displacement x of

the mass m is measured from the equilibrium position. In this system, the
external force f (t ) is input and x is the output.

i) The FBD is shown in the Fig. 4-2.

ii) Apply Newton’s second law of motion to a system in translation:

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

b x
k x b k
f (t)
m m
+x x
f (t)
Figure 4-2 Mass -Spring –Damper System and the FBD.

∑

F = m x


Summation of all forces
acting on the system

f ( t ) − b x
− k x = m x


or

m x

+ b x
+ k x = f ( t ) ⇒ Forced Vibration of a second order system

iii) For zero Initial Conditions (I.C’s), taking Laplace Transform (LT) of
both sides of the above equation yields

(m s 2
+ b s + k ) X ( s ) = F( s )

where X ( s ) = L  x ( t )  and F ( s ) = L  f ( t )  . From Equation (4-

2), the TF for the system is

X (s) Output 1
= =
F( s ) Input (m s 2
+bs +k )

F (s ) 1 X ( s)
   
In p u t ms 2 + bs + k Output

   
Transfer Function

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Impulse Response Function. The TF of a LTI system is

Y (s)
Transfer Function (TF) = G ( s ) =
X(s)

where X (s) is the LT of the input x (t ) and Y (s) is the LT of the output
y (t ) and where we assume all I.C’s involved are zero. It follows that

Y ( s ) = G ( s ) X(s ) (4-3)

Now, consider the output (response) of the system to a unit-impulse

()
δ t input when all the I.C’s are zero. Since

L δ ( t )  = 1
the LT of the output of the system is

Y (s) = G (s) (4-4)

The inverse LT of the output of the system is given by Equation 4-4 yields
the impulse response of the system, i.e;

L -1 G ( s )  = g ( t )
is called the impulse response function or the weighting function, of the
()
system. The impulse-response function g t is thus the response of a linear
system to a unit impulse input when the I.C’s are zero. The LT of g (t ) gives
the TF.

4.2 Block Diagrams (BD)

Block Diagrams of Dynamic Systems
A Block Diagram (BD) of a dynamic system is a pictorial
representation of the functions performed by each component of the system
and of the flow signal within the system. Such a diagram depicts the
interrelationships that exist among the various components.

• In a BD, all system variables are linked to each other through

functional blocks.

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

• The functional block, or simply block, is a symbol for the

mathematical operation on the input signal to the block that produces
the output.

• The TF’s of the components are usually entered in the corresponding

blocks, which are connected by arrows to indicate the direction of the
flow signal.

• Notice that a signal can pass only in the direction of the arrows. Thus,
a block diagram of a dynamic system explicitly shows a unilateral
property.

Figure 4-3 shows an element of a BD . The arrowhead pointing toward the

block indicates the input to the block, and the arrowhead leading away
from the block represents the output of the block. As mentioned, such
arrows represent signals.

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

Figure 4-3 Element of a Block Diagram (BD).

Note that

[ Dimension of the output signal ] = [ Dimension of the input signal ] × [ Dimension of the TF ]
Notice that in BD the main source of energy is not explicitly shown and that
the BD of a given system is not unique. A number of different BD’s can be
drawn for a system, depending on the point of view of the analysis (See
Example 4-2).

Summing Point. Figure 4-4 shows a circle with a cross, the

symbol that stands for a summing operation. The (+) or ( −) sign at each
arrowhead indicates whether the associated signal is to be added or
subtracted. It is important that the quantities being added or subtracted
have the same dimensions and the same units.

a −b
a
b
Figure 4-4 Summing point.

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Branch Point.
Point. A branch point is a point from which the
signal from a block goes concurrently to other blocks or summing points.

Block Diagram of a closed-

closed-loop system. Figure 4-5 is
a BD of closed loop system. The output C (s) is fed back to the summing
point, where it is compared to the input R( s ) . The closed loop nature of the
system is indicated clearly by the figure. The output C ( s ) is obtained by
multiplying the TF G( s ) by the input of the block, E( s ) .

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

Figure 4-5 Block Diagram of a closed loop system.

Any linear system can be represented by a BD consisting of blocks, summing

points, and branch points. When the output is fed back to the summing point
for comparison with the input, it is necessary to convert the form of the
output signal to that of the input signal. This conversion is accomplished by
the feedback element whose transfer function is H ( s ) , as shown in Figure 4-
6. Another important role of the feedback element is to modify the output
before it is compared with the input. In the figure, the feedback signal that is
fed back to the summing point for comparison with the input is
B(s ) = H (s )C (s ) .

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

B (s )
H (s )

Figure 4-6 Block Diagram of a closed loop-system with feedback element.

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Basic Rules for Reducing Block diagrams

Rule:1

Rule: 2 (Associative and Commutative Properties)

Rule: 3 (Distributive Property)

Rule: 4 (Blocks in Parallel)

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Rule: 5 (Positive Feedback Loop)

Rule: 6 (Negative Feedback loop)

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

MATLAB Implementation
Series Connection

R (s) G1 ( s ) G2 (s) C (s)

C ( s ) num num1 num2

T ( s) = = G1 ( s ) = G2 (s) =
R( s) den den1 den2

[num,den]=series(num1,den1,num2,den2)

Parallel Connection

G1 ( s)

R (s) C (s)

G2 (s)

C ( s ) num num1 num2

T (s) = = G1 ( s ) = G2 ( s) =
R( s ) den den1 den2

[num,den]=parallel(num1,den1,num2,den2)

Feedback Connection

R (s1)
GG C

H (s )

C (s ) num num1 num2 +1 Positive Feedback

T (s) = = G (s) = H (s) =
R(s) den den1 den2 -1 Negative Feedback (default)

[num,den] = feedback(num1,den1,num2,den2,sign)

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

4.3 Partial-
Partial-Fraction Expansion with Matlab
MATLAB representation of Transfer Functions
(TF).
(TF) The transfer function of a system is represented by two arrays of
numbers. For example, consider a system defined by
Y (s) 25
= 2
U ( s ) s + 4s + 25

This system is represented as two arrays, each containing the coefficients of

the polynomials in descending powers of s as follows

>> num=25;
>> den=[1 4 25];
>> sys=tf(num,den)

MATLAB will automatically respond with the display

Transfer function:
25
--------------
s^2 + 4 s + 25

Partial-
Partial-Fraction Expansion with MATLAB. MATLAB. MATLAB
allows us to obtain the partial-fraction expansion of the ratio of two
polynomials,

b (1) s + b ( 2 ) s + + b (h)
h h −1
B(s) num
= =
A(s) den a (1) s n + a ( 2 ) s n−1 +  + a ( n )
Where a (1) ≠ 0 , some of a ( i ) and b ( j ) may be zero, and num and den are
row vectors that specify the numerator and denominator of B ( s ) A ( s ) . That
is,

>> num=[b(1) b(2) …. b(h)];

>> den =[a(1) a(2) …. a(h)];

The command

>> [r,pk]=residue(num,den);

finds the residues, poles and direct terms of a partial fraction expansion of
the ratio of the two polynomials B ( s ) and A ( s ) . The partial fraction
expansion of B ( s ) A ( s ) is given by

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

B(s) r (1) r ( 2) r (n)

= k( s ) + + + +
A (s) s − p(1) s − p( 2) s − p(n)

As an example, consider the function

2
B(s)
4 3
num s + 8s + 16s + 9s + 6
= = 2
A(s)
3
den s + 6s + 11s + 6

>> num=[1 8 16 9 6];

>> den=[1 6 11 6];
>> [r,p,k]=residue(num,den)

gives the residues r , poles p and direct terms k as follows

r=-6.0000
-4.0000
3.0000

p=-3.0000
-2.0000
-1.0000

k= 1 2

Therefore , the partial-fraction expansion of B ( s ) A ( s ) is:

2
B(s)
4 3
num s + 8s + 16s + 9s + 6 6 4 3
= = 2
=s+2− − +
A(s)
3
den s + 6s + 11s + 6 s+3 s+2 s+1

The command

[num,den]=residue(r,p,k)

where r,p and k are outputs , converts the partial-fraction expansion back to
the polynomial ratio B ( s ) A ( s ) as shown below

>> r =[-6 -4 3];

>> p =[-3 -2 -1];
>> k=[1 2];
>> [num,den]=residue(r,p,k)

num =

1 8 16 9 6

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

den =

1 6 11 6

Example 4-3 (Textbook Page 114-115)

Consider the spring-mass-dashpot system mounted on a massless cart as

shown in Figure 4-7.

1. Obtain the mathematical model of the system.

2. If m = 10 kg , b = 20 N-s/m and k = 100 N/m . Find the response y ( t )
for a unit step input.

u
y y

k
k ( y − u)
m m
b ( y
− u
)
b

Figure 4-7 Spring-mass-dashpot system mounted on a cart and its FBD.

1. Apply Newton’s second law for a system in translation

∑

F = m y

⇒ − b ( y
− u
) − k ( y − u ) = m y


Summation of all forces
acting on the system
or
m y

+ b y
+ k y = bu
+ ku

The latter equation represents the mathematical model of the system under
consideration.

2. For zero I. C’s, taking LT of both sides of the above equation gives

( ms 2
+ b s + k ) Y ( s ) = ( bs + k ) U ( s )

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Taking the ratio of Y (s) to U (s) , we find the TF of the system

Y (s) ( bs + k )
Transfer Function (TF) = =
U ( s ) ( ms 2 + b s + k )

3. Next, we shall obtain analytical solution of the response to the unit-step

input. Substituting the given numerical values for the mass, spring and
dashpot elements gives

Y (s) 20s + 100 2s + 10

= 2
= 2
U ( s ) 10s + 20 s + 100 s + 2 s + 10

Since the input u is a unit step function,

1
U (s) =
s
The output Y (s) becomes

1 2s + 10 2s + 10
Y (s) = =
s s 2 + 2 s + 10 s3 + 2 s 2 + 10s

4. To obtain the inverse LT of Y (s) , we need to express Y (s) into partial

fractions. Use MATLAB for that

>> num=[2 10];

>> den=[1 2 10 0];
>> [r,p,k]=residue(num,den)

r=
-0.5000 - 0.1667i
-0.5000 + 0.1667i
1.0000

p=
-1.0000 + 3.0000i
-1.0000 - 3.0000i
0

k=

[]

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Therefore, Y (s) becomes

−0.5 − j 0.1667 −0.5 + j 0.1667 1

Y (s) = + +
s + 1 − j3 s + 1 + j3 s

Since Y (s) involves complex-conjugate poles, it is convenient to combine

two complex conjugate terms into one as follows

−0.5 − j 0.1667 −0.5 + j 0.1667 −s

+ =
s + 1 − j3 s + 1 + j3 ( s + 1)2 + 32
Then Y (s) can be expanded as

1 s 1 s +1 −1
Y (s) = − = −
s ( s + 1)2 + 32 s ( s + 1)2 + 32
1 s +1 1 3
= − +
s ( s + 1)2 + 32 3 ( s + 1)2 + 32

5. The inverse LT of Y (s) is obtained as

1
y(t ) = L -1 Y ( s )  = 1 − e − t cos 3t + e − t sin 3t .
3
Example 4-4 (Textbook Page 117-119)

Consider the mechanical system shown in Figure 4-8. The system is initially
at rest. The displacements x and y are measured from their respective
equilibrium positions. Assuming that p(t ) is a step input and the
displacement x ( t ) is the output.

1. Obtain the transfer function of the system.

2. If m = 0.1 kg , b2 = 0.4 N-s/m and k1 = 6 N/m , k2 = 4 N/m , and p(t ) is a
step force of magnitude 10 N , obtain an analytical solution of x ( t ) .

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

b2 y

b2 m2
k1 p (t ) y
k2 y k2 ( y − x)
k1 x

m m
x
x
p (t )
Figure 4-8 Mechanical system and its FBD.

1. Put a fictitious mass m2 .

2. Draw the FBD as shown.
3. Apply Newton second for translational motion for mass m

∑

F = m x

⇒ p ( t ) − k1 x + k2 ( y − x ) = m x


Summation of all forces
acting on the mass m

or
x + ( k1 + k2 ) x − k2 y = p(t )
m

(1)

4. Apply Newton second for translational motion for mass m2

∑

F = m2 y

⇒ − b2 y
− k2 ( y − x ) = 0
Summation of all forces
acting on the mass m2
or
− k2 x + ( b2 y
+ k2 y ) = 0 (2)

5. For zero I. C’s taking LT of both sides of Eqs. (1) and (2), gives

ms 2 + ( k1 + k2 )  X ( s ) − k2Y ( s ) = P(s ) (3)

− k 2 X ( s ) + [ b2 s + k 2 ] Y ( s ) = 0 (4)

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Equations (3) and (4) constitute a system of 2 equations with 2 unknowns

( )
X s and Y s .1 ( )
6. Solving Eq. (3) for Y (s) gives
k2
Y (s) = X (s) (5)
[ 2 2]
b s + k

7. Substitute Eq. (5) into Eq. (3) we get

k22
ms + ( k1 + k2 )  X ( s ) −
2
X ( s ) = P(s )
[ 2 2]
b s + k
or
X (s) b2 s + k2
Transfer Function (TF) = =
P ( s ) mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1k2

which represents a third order system.

8. Next, we shall obtain analytical solution of the response to a step

input of magnitude 10 N . Substituting the given numerical values for the
mass, springs and dashpot elements gives

X (s) 0.4 s + 4
=
P ( s ) 0.04s + 0.4s 2 + 4 s + 24
3

10 s + 100
=
s + 10s 2 + 100 s + 600
3

Since the input p is a step function of magnitude 10 N , then

10
U (s) =
s
The output X (s) becomes

X (s) 10 s + 100 10
= 3 ×
P ( s ) s + 10s 2 + 100 s + 600 s

1
See Appendix at the end of this chapter

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

9. To obtain the inverse LT of X ( s ) , we need to express X ( s ) into partial

fractions. Use MATLAB for that

>> num=[100 1000];

>> den=[1 10 100 600 0];
>> [r,p,k]=residue(num,den)

r=

-0.6845 + 0.2233i
-0.6845 - 0.2233i
-0.2977
1.6667

p=

-1.2898 + 8.8991i
-1.2898 - 8.8991i
-7.4204
0

k=

[]

Therefore, X (s) becomes

−0.6845 + j 0.2233 −0.6845 − j 0.2233 0.2977 1.6667

X (s) = + − +
s + 1.2898 − j8.8991 s + 1.2898 + j8.8991 s + 7.4204 s
 −1.3690 ( s + 1.2898 ) − 3.9743  0.2977 1.6667
= 2 2  − +
 ( s + 1.2898 ) + 8.8991  s + 7.4204 s

10. The inverse LT of X (s) is obtained as

x(t ) = L -1  X ( s )  = −1.3690e −1.2898t cos ( 8.8991t )

3.9743 −1.2898t
− e sin ( 8.8991t ) − 0.2977 e −7.4204t + 1.6667 .
8.8991

= 0.4466

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

From the preceding examples, we have seen that once the TF

( ) ( ) ( )
X s U s = G s of a system is obtained, the response of the system to
any input can be determined by taking the inverse LT of X ( s ) , or

x(t ) = L -1  X ( s )  = L -1 G ( s ) U (s )

Finding the inverse LT of G (s) may be time consuming if the TF G (s) of

the system is complicated, eventhough the input U (s) may be a simple
function of time. Unless, for some reason, the analytical solution is needed,
we should use a computer to get a numerical solution.

4.4 Transient Response Analysis with Matlab

MATLAB Representation of Transfer-
Transfer-Functions
(TF) Systems.
Systems

Figure 4-1 shows a block with a TF. Such a block represents a system or an
element of a system. To simplify our presentation, we shall call the block
with a TF a system. MATLAB uses sys to represent such a system. The
statement

>> sys=tf(num,den)

represents the system. For example, consider the system

Y (s) 2s + 25
= 2
X ( s ) s + 4s + 25

This system is represented as two arrays, each containing the coefficients of

the polynomials in descending powers of s as follows

>> num=[2 25];

>> den=[1 4 25];
>> sys=tf(num,den)

MATLAB will automatically respond with the display

Transfer function:
2 s + 25
--------------
s^2 + 4 s + 25

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Step Response. The step function plots the unit step response,
assuming the I.C’s are zero. The basic syntax is step(sys), where sys is the
LTI object defined previously.

The basic syntax commands are summarized below

Command (Basic Use

Syntax)
>> step(sys) generates a plot of a unit step response and
displays a response curve on the screen. The
computation time interval ∆t and the time span
of the response tf are determined automatically
by MATLAB.

>> step(sys,tf) generates a plot of a unit step response and

displays a response curve on the screen for the
specified final time tf . The computation time
interval ∆t is determined automatically by
MATLAB.

>> step(sys,t) generates a plot of a unit step response and

displays a response curve on the screen for the
user specified time t where t = 0 : ∆t : tf .

>> [y,t]=step(sys,…) Returns the output y, and the time array t used
for the simulation. No plot is drawn. The array y
is p × q × m where p is length(t), q is the number
of outputs, and m is the number of inputs.

>> step(sys1, sys2,…,t) Plots the step response of multiple LTI systems
on a single plot. The time vector t is optional.
You can specify line color, line style and marker
for each system.

The steady state response and the time to reach that steady state are
automatically determined. The steady state response is indicated by
horizontal dotted line.

For more details in this topic: type doc step or help step at MATLAB prompt
>>

Example 4-5 (Textbook Page 121-122)

Consider again the spring-mass-dashpot system mounted on a cart as

shown in Figure 4-7. (See Example 4-3). The transfer function of the
system is

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Y (s) ( bs + k )
Transfer Function (TF) = =
U ( s ) ( ms 2 + b s + k )
For m = 10 kg , b = 20 N-s/m and k = 100 N/m . Find the response y ( t )
for a unit step input u(t ) = 1(t ) .

MATLAB PROGRAM:

>> m=10; b=20; k=100;

>> num=[b k];
>> den=[m b k];
>> sys=tf(num,den);
>> step(sys)
>> grid

Step Response
1.5

1
Amplitude

0.5

0
0 1 2 3 4 5 6
Time (sec)

Figure 4-10 Unit step response curve

Example 4-6 (Textbook Page 123-124)

Consider again the mechanical system shown in Figure 4-8. (See

Example 4-4). The transfer functions of the system are (See Appendix)

X (s) b2 s + k 2
=
P ( s ) mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1 k2
and

Y (s) k2
=
P ( s ) mb2 s + mk2 s + ( k1 + k2 ) b2 s + k1 k2
3 2

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

For m = 0.10 kg , b2 = 0.4 N-s/m and k1 = 6 N/m , k2 = 4 N/m and p(t ) is

a step input of magnitude 10 N . Obtain the responses x ( t ) and y ( t ) .

MATLAB PROGRAM:

>> m=0.1; b2=0.4; k1=6;k2=4;

>> num1=[b2 k2]
>> num2=[k2]
>> den=[m*b2 m*k2 k1*b2+k2*b2 k1*k2]
>> sys1=tf(num1,den)
>> sys2=tf(num2,den)
>> step(10*sys1,'r:',10*sys2,'b')
>> grid
>> gtext('x(t)');gtext('y(t)')

Step Response
3

x(t)

2.5

y(t)

2
Amplitude

1.5

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (sec)

Figure 4-11Step response curves x ( t ) and y ( t )

Impulse Response. The impluse function plots the unit-impulse
response, assuming the I.C’s are zero. The basic syntax is impulse(sys),
where sys is the LTI object.

The basic syntax commands are summarized below

Command (Basic Syntax) Use

>> impulse(sys) generates a plot of a unit impulse response

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

and displays a response curve on the screen.

The computation time interval ∆t and the
time span of the response tf are determined
automatically by MATLAB.

>> impulse(sys,tf) generates a plot of a unit impulse response

and displays a response curve on the screen
for the specified final time tf . The
computation time interval ∆t is determined
automatically by MATLAB.

>> impulse(sys,t) generates a plot of a unit impulse response

and displays a response curve on the screen
for the user specified time t where
t = 0 : ∆t : tf .

>> [y,t]=impulse(sys,…) Returns the output y, and the time array t

used for the simulation. No plot is drawn. The
array y is p × q × m where p is length(t), q is
the number of outputs, and m is the number
of inputs.

>>impulse(sys1, sys2,…,t) Plots the impulse response of multiple LTI

systems on a single plot. The time vector t is
optional. You can specify line color, line style
and marker for each system.

The steady state response and the time to reach that steady state are
automatically determined. The steady state response is indicated by
horizontal dotted line.

For more details in this topic: type doc impulse or help impulse at MATLAB
prompt >>

Impulse Input. The impulse response of a mechanical system can

be observed when the system is subjected to a very large force for a very
short time, for instance, when the mass of a spring-mass-dashpot system is
hit by a hammer or a bullet. Mathematically, such an impulse input can be
expressed by an impulse function.
The impulse function is a mathematical function without any actual
physical counterpart. However, as shown in Figure 4-12 (a), if the actual
input lasts for a short time ∆t but has a magnitude h , so that the area
h ∆t in a time plot is not negligible, it can be approximated by an impulse
function. The impulse input is usually denoted by a vertical arrow, as shown

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

in Figure 4-12 (b), to indicate that it has a very short duration and a very
large height.
x x

t t
0 0
∆t

Figure 4-12Impulse inputs

Example 4-7

Consider the previous Example 4-6 but with an impulse input of magnitude
10 N.

MATLAB PROGRAM:

>> m=0.1; b2=0.4; k1=6;k2=4;

>> num1=[b2 k2]
>> num2=[k2]
>> den=[m*b2 m*k2 k1*b2+k2*b2 k1*k2]
>> sys1=tf(num1,den)
>> sys2=tf(num2,den)
>> impulse(10*sys1,'r:',10*sys2,'b')
>> grid
>> gtext('x(t)');gtext('y(t)')

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Impulse Response
12
x(t)
10

y(t)
8

Amplitude 4

-2

-4

-6

-8
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (sec)

Figure 4-13Impulse response curves x ( t ) and y ( t )

Obtaining response to arbitrary input. The lsim function plots
the response of the system to an arbitrary input. The basic syntax commands
is summarized below

Command (Basic Use

Syntax)
>> lsim(sys,u,t) produces a plot of the time response of the LTI
model sys to the input time history t,u. The
vector t specifies the time samples for the
simulation and consists of regularly spaced time
samples. t = 0 : ∆t : tf
The matrix u must have as many rows as time
samples (length(t)) and as many columns as
system inputs. Each row u(i,:) specifies the input
value(s) at the time sample t(i).

For more details in this topic: type doc lsim or help lsim at MATLAB prompt
>>

Example 4-8

Consider the mass-spring-dashpot system mounted on a cart of

Example 4-3 The TF of the system is
Y (s) ( bs + k )
=
U ( s ) ( ms 2 + b s + k )

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

where Y (s) is the output U (s) is the input . Assume that m = 10 kg ,

b = 20 N-s/m and k = 100 N/m . Find the response y ( t ) for a ramp
input with a slope of 2, ( r (t ) = 2t ).

MATLAB PROGRAM:

>> m=10; b=20; k=100;

>> num=[b k];den=[m b k];
>> sys=tf(num,den);
>> t=[0:0.001:3];
>> u=2*t;
>> lsim(sys,u,t);grid;gtext('x(t)');gtext('y(t)')
Linear Simulation Results
6

4
Amplitude

r(t)

1
y(t)

0
0 0.5 1 1.5 2 2.5 3
Time (sec)
Figure 4-14
Response for a
ramp input r (t ) = 2t
Example 4-9

Find the response y ( t ) of the previous Example 4-8 if the input is

shown by the Figure below.
r (t )

t
1 Figure 4-15 Arbitrary input

MATLAB PROGRAM:

>> m=10; b=20; k=100;

>> num=[b k]
>> den=[m b k]

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

>> sys=tf(num,den)
>> t=[0:0.001:5];
>> for k=1:length(t)
>> if t(k) <= 1
r(k) =t(k);
else
r(k)=1;
end
end
>> y=lsim(sys,r,t);
>> plot(t,y,t,r,'r:');grid;
>> xlabel('Time (sec)');
>> gtext('r(t)');gtext('y(t)')

1.4

y(t)
1.2

r(t)
1

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (sec)

Figure 4-16Response for an arbitrary input

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

APPENDIX

The transfer functions G1 ( s ) = X ( s ) U ( s ) and G2 ( s ) = Y ( s ) U ( s ) can be found

directly by solving the system of Equations (3) and (4) with the unknowns
X ( s ) and Y ( s ) . Rewrite Eqs (3) and (4) as

ms 2 + ( k1 + k2 )  X ( s ) − k2Y ( s ) = P(s )

(3)
− k 2 X ( s ) + [ b2 s + k 2 ] Y ( s ) = 0
(4)

Method of Substitution:

The above system can be solved by substituting of one of the unknowns from
one equation into the other. For instance, from Eq. (4)

k2
Y (s) = X (s)
[ b2 s + k 2 ]
(5)
Substitute Eq. (5) into Eq. (3) we get
k22
ms + ( k1 + k2 )  X ( s ) −
2
X ( s ) = P(s )
[ b2 s + k 2 ]
or
X (s) b2 s + k 2
=
P ( s ) mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1 k2
or
P ( s ) ( b2 s + k2 )
X (s) =
mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1 k2
(6)
Substitute X (s) from (6) into (5), we get

 
k2 k2  P ( s ) ( b2 s + k 2 ) 
Y (s) = X (s) =
[b2 s + k2 ] [b2 s + k2 ]  
mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1k2 


 X(s) 
Finally

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ME 413 Systems Dynamics & Control Chapter Four: Transfer Function Approach

Y (s) k2
=
P ( s ) mb2 s3 + mk2 s 2 + ( k1 + k2 ) b2 s + k1 k2

Cramer’s Rule:

Eqs. (3) and (4) represent a system of two equations with two unknowns
( ) ( )
X s and Y s . The above system can be written in the form

a11X(s ) + a12Y (s) = P(s)

a21X(s ) + a22Y (s ) = 0
(7)
Where it is clear that
a11 = ms 2 + ( k1 + k2 ) 
a12 = a21 = − k2
a22 = ( b2 s + k2 )
The solution to system (7) is
P(s) a12
0 a22 P(s)a22 X(s) a22
X(s) = = ⇒ =
a11 a12 a11a22 − a12 a12 P(s) a11a22 − a12 a12
a21 a22
a11 P(s)
a 0 − P(s)a21 X(s) − a21
Y (s ) = 21 = ⇒ =
a11 a12 a11a22 − a12 a12 P(s ) a11a22 − a12 a12
a21 a22
or

X(s) a22 ( b2s + k2 )

= =
P(s ) a11a22 − a12 a12 ms + ( k1 + k2 )  ( b2 s + k2 ) − k 2
2

Y (s ) − a21 k2
= =
P(s ) a11a22 − a12 a12 ms + ( k1 + k2 )  ( b2 s + k2 ) − k 2
2

Therefore it does not appear in the equation of motion.

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