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Transfer Function in Control Systems

Chapter 2 introduces the concept of transfer functions, defined as the ratio of the Laplace transform of the output to the input of a linear, stationary system. It emphasizes that transfer functions describe the dynamics of a system without detailing its internal structure. An example of a spring-mass-damper system is provided to illustrate the derivation of a transfer function using Laplace transformations.

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83 views2 pages

Transfer Function in Control Systems

Chapter 2 introduces the concept of transfer functions, defined as the ratio of the Laplace transform of the output to the input of a linear, stationary system. It emphasizes that transfer functions describe the dynamics of a system without detailing its internal structure. An example of a spring-mass-damper system is provided to illustrate the derivation of a transfer function using Laplace transformations.

Uploaded by

lasantha abeykoon
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ยฉ All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

Chapter 2: Transfer Function concept

2.1. Introduction
The transfer function 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 assumed to be zero. The transfer
function of a system (or element) represents the relationship describing the dynamics of the system
under consideration. A transfer function may be defined only for a linear, stationary (constant
parameter) system. A non-stationary system, often called a time-varying system, has one or more time-
varying parameters, and the Laplace transformation may not be utilized. Furthermore, a transfer
function is an input-output description of the behavior of a system. Thus, the transfer function
description does not include any information concerning the internal structure of the system and its
behavior. The dynamic of linear time-invariant system (whose coefficients are constant) are represented
by linear differential equation such as:

( ) ( ) ( )
+ +โ‹ฏโ‹ฏ+ + ( )

( ) ( )
= +โ‹ฏโ‹ฏ + ( ) (2.1)

The Laplace transformation of the above equation with zero initial conditions leads to

( + + โ‹ฏโ‹ฏ+ + ) ( )
=( + โ‹ฏโ‹ฏ + ) ( ) (2.2)

Designating the transfer function of the system as ( ), we get

( )
( )= =
( )

( + โ‹ฏโ‹ฏ + )
= (2.3)
( + +โ‹ฏโ‹ฏ+ + )

EE4001: Control Systems I | Chapter 2 1


Example 2.1
Consider the spring-mass-damper system shown in Figure 2.1. Assume that the system is linear. The
external force ( ) is the input to the system, and the displacement ( ) of the mass is the output. The
displacement ( ) is measured from the equilibrium position in the absence of the external force.
Derive the transfer function of the system.

Figure 2.1: Spring-mass-damper system

From the diagram, the system equation is


ฬˆ( ) + (ฬ‡ ) + ( ) = ( ) (2.4)

The Laplace transformation of the above equation with zero initial conditions leads to

( ) + ( ) + ( ) = ( ) (2.5)

( )
( )= =
( ) + +

EE4001: Control Systems I | Chapter 2 2

Common questions

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The transfer function of a spring-mass-damper system demonstrates linearity as it is derived from the linear differential equation describing the system's dynamics, ๐‘š๐‘ฆฬˆ(๐‘ก) + ๐‘๐‘ฆฬ‡(๐‘ก) + ๐‘˜๐‘ฆ(๐‘ก) = ๐‘ข(๐‘ก). The linearity is evident in the algebraic form of the transfer function, 1/(๐‘š๐‘ ยฒ + ๐‘๐‘  + ๐‘˜), which relates the Laplace transforms of the input and output without any nonlinear terms .

Assuming zero initial conditions in the derivation of a transfer function simplifies the Laplace transformation process by eliminating terms associated with initial conditions. This assumption leads to a fundamental representation of the relationship between input and output without interference from past states of the system. It ensures that the transfer function focuses on the intrinsic dynamics of the system under current input conditions, making it possible to understand the system's behavior without historical bias .

To apply a Laplace transform for deriving a transfer function, the system must be linear and time-invariant with constant parameters. The initial conditions must also be assumed to be zero. This ensures that the transformation is valid and results in a transfer function that accurately represents the input-output relationship of the system . Non-stationary systems with time-varying parameters do not allow for the use of Laplace transformations in this context .

The exclusion of internal system behavior in a transfer function model implies that while the function captures the overall input-output relationship, it does not reveal the internal dynamics or how components interact within the system. This limits the transfer functionโ€™s ability to provide insight into the exact cause of system behavior or performance issues that might arise from internal interactions. Consequently, diagnosing and solving internal system issues may require additional modeling methods beyond transfer functions .

Deriving a transfer function from a differential equation involves taking the Laplace transform of the system's differential equation with the assumption of zero initial conditions. For a linear system described by a differential equation, one converts the time-domain equation into the s-domain. The transfer function is then found by solving for the ratio of the Laplace transform of the output to the input. For example, the differential equation ๐‘š๐‘ฆฬˆ(๐‘ก) + ๐‘๐‘ฆฬ‡(๐‘ก) + ๐‘˜๐‘ฆ(๐‘ก) = ๐‘ข(๐‘ก) transforms to the s-domain as ๐‘š๐‘ ยฒ๐‘Œ(๐‘ ) + ๐‘๐‘ ๐‘Œ(๐‘ ) + ๐‘˜๐‘Œ(๐‘ ) = ๐‘ˆ(๐‘ ), resulting in the transfer function ๐‘Œ(๐‘ )/๐‘ˆ(๐‘ ) = 1/(๐‘š๐‘ ยฒ + ๐‘๐‘  + ๐‘˜).

In a spring-mass-damper system, damping, represented by the coefficient ๐‘ in the transfer function 1/(๐‘š๐‘ ยฒ+๐‘๐‘ +๐‘˜), plays a critical role in determining how the system's oscillations decay over time. Damping affects the system's stabilizing properties and influences the response speed and amplitude of oscillations. A higher damping coefficient typically results in faster stabilization of the system after a disturbance and can reduce overshoot, whereas lower damping may result in prolonged oscillations. Thus, understanding and setting appropriate damping is vital for effective system performance and stability .

A transfer function represents the dynamics of a system by expressing the ratio of the Laplace transform of the output variable to the Laplace transform of the input variable with all initial conditions assumed to be zero . This representation captures the input-output behavior of linear, time-invariant systems but does not include any details about the system's internal structure or behavior. Additionally, transfer functions cannot be defined for non-stationary systems with time-varying parameters .

The Laplace transformation is inherently suited for stationary systems where system properties do not vary with time. It provides a means to algebraically express the dynamic relationship between inputs and outputs when parameters are constant. In contrast, non-stationary systems, which have time-varying parameters, do not maintain the constant property assumption required for Laplace transforms, making it ineffective for modeling such systems' dynamics. This differentiation is crucial for accurately applying Laplace tools in control system analysis .

A linear time-invariant system has constant parameters and its behavior can be accurately modeled using transfer functions, which capture the steady relationship between input and output. In contrast, a non-stationary system has time-varying parameters, making it unsuitable for transfer function modeling because its behavior changes over time, violating the assumptions needed for the Laplace transform . As a result, transfer functions cannot represent such systems' dynamics effectively .

The transfer function 1/(๐‘š๐‘ ยฒ+๐‘๐‘ +๐‘˜) captures the dynamic relationship between the external force input ๐‘ข(๐‘ก) and the displacement output ๐‘ฆ(๐‘ก) of the spring-mass-damper system. It is derived by taking the Laplace transform of the system's differential equation, representing how the input force affects the system's motion through its mass (๐‘š), damping (๐‘), and stiffness (๐‘˜) parameters . This transfer function provides insight into the system's frequency response and stability characteristics .

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