Control System

Transfer Function & Order of System

Content
 Review of Last Lecture.
 Transfer Function.
 Transfer function of RC and RLC electrical
circuit.
 Examples of Transfer function
 Order of System & its type

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 Learning Objectives
 Ableto define use of TF in control
system.

 Ableto derive expression for open loop

and closed loop system.

 Transfer function of RC and RLC

electrical circuits.

Transfer Function
 Ratio of Laplace transform of output (or response) to
Laplace transform of input (or excitation) under the
assumption of zero initial conditions is defined as the
transfer function of given system.

c(t) – output L {c(t)} = C(s) Therefore,

r(t) – input L {r(t)} = R(s) G(s) = C(s) / R(s)
g(t) – system function L{ g(t)} = G(s)

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 Properties of Transfer Function
 TF is defined only for linear time invariant systems.it
is not defined for non-linear systems.
 Transfer function is independent of inputs to system.
 Systems poles/zeros can be found out from Transfer
function.
 Once TF is known, any output for any given input, can
be known.
 System differential equation can be obtained by
replacement of variable ‘s’ by ‘d/dt’.

Laplace Transform of Electrical N/W

Element Time-Domain S-Domain

R i(t) * R I(s) * R
L L . di(t)/dt Ls * I(s)
C 1/C . ∫ 1/sC * I(s)

R- Resistance C-Capacitance
L- Inductance I- Current

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 Transfer Function of Closed Loop System
Gain for CL system is given by,
G(s)=C(s)/E(s)
Thus, C(s)=G(s).E(s)---------------(3)

Substitute the value of E(s) from Eq. 1 to 3

C(s)=G(s).[R(s) - B(s)]
Thus,
C(s)= G(s).R(s) – G(s).B(s)------(4)
Error signal is given by,
E(s)=R(s) - B(s) ----------(1) Substitute the value of B(s) from Eq. 2 to 4
Thus,
C(s)= G(s).R(s) – G(s).H(s). C(s)
R(s)= E(s)+B(s)
G(s).R(s)=C(s)+G(s).H(s). C(s)
Gain of feedback n/w is given by,
G(s).R(s)=C(s)[ 1+G(s).H(s) ]
H(s)= B(s)/C(s)
Thus, Transfer function is given by,
B(s)=H(s).C(s)--------(2) T.F. = C(s)/R(s) = G(s)/ 1+G(s).H(s)

Laplace Transform of ‘ R ’
 Resistor are time and frequency invariant. Therefore,
transform of a resistor is same as the resistance of
resistor.

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 Laplace Transform of ‘ C ’
 Let us look at relationship  Again, solving for ratio V(s)/I(s),
between voltage, current and we get the following;
capacitance in time domain.

 Solving for voltage, we get the  Therefore, transform for a

following integral; capacitor with capacitance C is
given by,

 Then transforming this

equation into Laplace domain,
we get the following;

Laplace Transform of ‘ L ’
 Let us look at relationship  Again, solving for ratio V(s)/I(s),
between voltage, current and we get the following;
inductance in time domain.

 Then transforming above  Therefore, transform for an

equation into Laplace domain, inductance with inductance L is
we get the following; given by,

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 Transfer Function of RC Network
 Apply KVL for output loop,

 Taking Laplace transform of above

 Apply KVL for input loop, equation, we get;

 Taking Laplace transform of  From equation 1,

above equation, we get;

 From equation 3 & 4,

Transfer Function of RC Network

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 Transfer Function of RLC Network
 Apply KVL for input loop,

 Taking Laplace transform of

above equation, we get;  Apply KVL for output loop,

Transfer Function of RLC Network

From equation 1 & 2,

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 Order of System
 Order of control system is defined as the highest
power of s present in denominator of closed loop
transfer function G(s) of unity feedback system.

 A proper system is a system where the degree of

denominator is larger than or equal to the degree of
numerator polynomial.

G(s)= s+1/(s2+2s+1)

Order of System
Q. Define the order of given system

Answer: The highest power of equation in

denominator of given transfer function is ‘2’.
Hence, the order of given system is two.

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 Find the order of given system

Solution: To obtain highest power of denominator ,

Simplify denominator polynomial.

The highest power of equation in denominator of given transfer

function is ‘3’. Hence, given system is ‘ Third Order System ’
The degree of denominator is larger than the numerator. Hence,
system is ‘ Proper System ’

Types of System
 Depending on highest power of denominator,
system are classified as:

 Zero Order System

 First Order System
 Second Order System

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Zero Order System
 If highest power of complex variable ‘s’ present in
characteristic equation is zero, then it is called as
“Zero Order System”

Zero Order System

 Consider a unity feedback system with transfer function

Hence, characteristic equation is given by ,

1 T  0
or
1  s 0T  0
Here, highest power of s is equal to 0,
Hence, system given above is Zero Order System.

Practical Example : Amplifier type control system.

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First Order System
 If highest power of complex variable ‘s’ present in
characteristic equation is one, then it is called as
“First Order System”

First Order System

 Consider a unity feedback system with transfer function

Hence, characteristic equation is given by ,

1  sCR  0

Here, highest power of s is equal to 1,

Hence, system given above is First order system
Practical Example : RC circuits, thermal type systems .

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Second Order System
 If highest power of complex variable ‘s’ present in
characteristic equation is two, then it is called as
“Second Order System”

Second Order System

 Consider a unity feedback system with transfer function

Hence, characteristic equation is given by ,

s 2 LC  sCR  1  0
Here, highest power of s is equal to 2,
Hence, system given above is First order system
Practical Example : RLC circuits, Robotic control systems .

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 Summary
 Transfer Function.

 Transfer Function of RC and RLC circuits.

 Order of system.

 Types of system.

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