Automatic Control Theory

Transfer Functions

Dr. Abdel Gayed Fathy Mohamed

 Transfer Function
Transfer Function is the ratio of Laplace transform of
the output to the Laplace transform of the input.
Considering all initial conditions to zero.
u(t) Plant y(t)

If u(t )  U ( S ) and
y(t )  Y ( S )

Where  is the Laplace operator.

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 Transfer Function
Then the transfer function G(S) of the plant is
given as
Y (S )
G( S ) 
U (S )

U(S) G(S) Y(S)

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 ?Why Laplace Transform
By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
For example

sin t  2 2
s 
Or 1
 at
e 
sa
Where s is a complex variable (complex frequency)
and is given as s    j 4
 Laplace Transform of Derivatives
Not only common function can be converted into
simple algebraic expressions but calculus
operations can also be converted into algebraic
expressions.
For example
dx(t )
  sX ( S )  x( 0 )
dt
2
d x (t ) dx (0)
 2
 s 2
X (S )  sx (0) 
dt dt
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 Laplace Transform of Derivatives
In general

n
d x(t ) n n 1 n 1
 n
 s X (S )  s x( 0)    x (0)
dt

Where x(0 ) is the initial condition of the system.

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Example: RC Circuit
• u is the input voltage applied at t=0
• y is the capacitor voltage

If the capacitor is not already charged then y(0)=0.

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Laplace Transform of Integrals

1
 x( t )dt  X (S )
s

• The time domain integral becomes division

by s in frequency domain.

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 Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the
system and x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A C B
• or dt 2 dt dt

Ax' ' (t )  Cy' (t )  Bx' (t )

• Taking the Laplace transform on either sides

A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]

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 Calculation of the Transfer Function

A[ s 2 X ( s )  sx( 0)  x' ( 0)]  C[ sY ( s )  y( 0)]  B[ sX ( s )  x( 0)]

• Considering Initial conditions to zero in order to find the

transfer function of the system

As 2 X ( s )  CsY ( s )  BsX ( s )
• Rearranging the above equation

As 2 X ( s )  BsX ( s )  CsY ( s )
X ( s )[ As 2  Bs ]  CsY ( s )
X (s) Cs C
 
Y ( s ) As  Bs As  B
2 10
 Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.

Figure-1

2. u(t) and y(t) are the input and output respectively of a system
defined by following ODE. Determine the Transfer Function. Assume
there is no any energy stored in the system.

6u' ' (t )  3u(t )   y(t )dt  3 y' ' ' (t )  y(t )

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Transfer Function
In general

Where x is the input of the system and y is the output

of the system.

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Transfer Function

When order of the denominator polynomial is greater

than the numerator polynomial the transfer function
is said to be ‘proper’.

Otherwise ‘improper’

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Transfer Function
Transfer function helps us to check

 The stability of the system

 Time domain and frequency domain characteristics of

the system

 Response of the system for any given input

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Stability of Control System
There are several meanings of stability, in general
there are two kinds of stability definitions in
control system study.

 Absolute Stability

 Relative Stability

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Stability of Control System

Roots of denominator polynomial of a transfer

function are called ‘poles’.

And the roots of numerator polynomials of a transfer

function are called ‘zeros’.

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Stability of Control System
Poles of the system are represented by ‘x’ and zeros of
the system are represented by ‘o’.
System order is always equal to number of poles of
the transfer function.

Following transfer function represents nth order plant.

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Stability of Control System
Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.

And zero is the frequency at which system

becomes 0.

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Example
Consider the Transfer function calculated is.

X (s) C
G( s )  
Y ( s ) As  B

the denominato r polynomial is As  B  0

The only pole of the system is

B
s 
A

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Stability of Control Systems
The poles and zeros of the system are plotted in s-
plane to check the stability of the system.

j

LHP RHP

Recall s    j


s-plane

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Stability of Control Systems
If all the poles of the system lie in left half plane the
system is said to be Stable.

If any of the poles lie in right half plane the system is
said to be Unstable.

If pole(s) lie on imaginary axis the system is said to be

j
Marginally Stable.
LHP RHP

s-plane 24
Stability of Control Systems
For example
C
G( s )  , if A  1, B  3 and C  10
As  B
Then the only pole of the system lie at

pole  3 j

LHP RHP

X 
-3

s-plane
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 Examples
Consider the following transfer functions.
 Determine whether the transfer function is proper or
improper
 Calculate the Poles and zeros of the system
 Determine the order of the system
 Draw the pole-zero map
 Determine the Stability of the system
)ii
)i
s3 s
G( s )  G( s ) 
s( s  2 ) ( s  1)( s  2 )( s  3)

( s  3) 2 s 2 ( s  1)
)iii G( s )  )iv G( s ) 
s( s 2  10) s( s  10)
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Another definition of Stability
The system is said to be stable if for any
bounded input the output of the system is also
bounded (BIBO).
Thus the for any bounded input the output
either remain constant or decrease with time.
u(t) overshoot
y(t)
1

Plant 1
t
t
Unit Step Input
Output
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Another definition of Stability
If for any bounded input the output is not bounded the
system is said to be unstable.

u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output
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 BIBO vs Transfer Function
For example

Y (s) 1 Y (s) 1
G1 ( s )   G2 ( s )  
U ( s) s  3 U (s) s  3
Pole-Zero Map Pole-Zero Map
4 4
unstable
3 stable 3

2 2

1 1
Imaginary Axis

Imaginary Axis
0 0

-1 -1

-2 -2

-3 -3

-4 -4
-4 -2 0 2 4 -4 -2 0 2 4
Real Axis Real Axis
 BIBO vs Transfer Function
For example

Y (s) 1 Y (s) 1
G1 ( s )   G2 ( s )  
U ( s) s  3 U (s) s  3

1 Y (s)
1 1 1 Y (s) 1
 G1 ( s )    1
 G2 ( s )   1
1
U ( s) s3 U (s) s 3
 y (t )  e 3t u (t )  y (t )  e 3t u (t )
BIBO vs Transfer Function
For example

y (t )  e 3t u (t ) y (t )  e 3t u (t )
exp(-3t)*u(t) 12
x 10 exp(3t)*u(t)
1
12

0.8 10

8
0.6

6
0.4
4

0.2
2

0
0 1 2 3 4 0
0 2 4 6 8 10
BIBO vs Transfer Function

Whenever one or more than one poles are in RHP the

solution of dynamic equations contains increasing
exponential terms.
Such as e.3t

That makes the response of the system unbounded and

hence the overall response of the system is unstable.