LAPLACE TRANSFORM

REVIEW

TRANSFER FUNCTION
DEFINITION

TRANSFER FUNCTION
The transfer function is the ratio of
the Laplace transform of the output
of a system to the Laplace transform
of the input.
As an example, the transfer function,
G(s) for a system representation:-

TRANSFER FUNCTION
A general nth order, linear, timeinvariant differential equation is:d n c(t )
d n 1c(t )
d m r (t )
d m 1 r (t )
an
a n 1
... a 0 c(t ) bm
bm 1
... b0 r (t )
n
n 1
m
m 1
dt
dt
dt
dt

where : c(t) is output

r(t) is input
a and b are constants

TRANSFER FUNCTION
Taking Laplace transform of both
side:n
n 1
a n s C ( s ) a n 1 s

C ( s ) ... a 0 C ( s ) initial condition

bm s m R ( s ) bm 1 s m 1 R ( s ) ... b0 R ( s ) initial condition

1
Assume
(a n s n a n 1 s n all
...initial
a 0 )C ( s ) conditions
(bm s m bm 1 s m 1 are
... bzero,
0 ) R(s)

Therefore, the transfer

function
is
m
m 1
bm s bm 1 s ... b0
C ( s)
G (s)
n
n 1
R(s)
a n s a n 1 s ... a 0

TRANSFER FUNCTION
It separate output, input and system.
The transfer function can be
represented as a block diagram as
shown below:-

TRANSFER FUNCTION
Ex. 1
Find the transfer function represented
by :dc(t )
dt

2c(t ) r (t )

Ex.2
Use the results of Ex 1 to find the
response, c(t) to an input r(t) = u(t),
a unit step. Assume zero initial
condition.

TRANSFER FUNCTION FOR

FEEDBACK CONTROL SYSTEM
The general feedback form
(simplified model) is shown below:-

TRANSFER FUNCTION FOR

FEEDBACK CONTROL SYSTEM
.

Forward path transfer function,

G(s) is the ratio of the Laplace
transform of the output (C(s)) of a
C (s)
G
(
s
)

system to the Laplace

transform of
E (s)
the input (E(s)) or
Feedback path transfer function,
H(s) is the ratio of the Laplace
B( s)
H
(
s
)

transform of the output

(C(s)) of a
C ( s)
system to the Laplace transform of
the input (C(s)) or

TRANSFER FUNCTION FOR

FEEDBACK CONTROL SYSTEM
..

Open-loop transfer function, G(s)H(s) is the ratio

of the Laplace transform of the output (B(s)) of a
B( s)
system to the Laplace transform ofGthe
( s ) input (E(s)) or
E ( s)

For the unity feedback case (H(s) = 1), open-loop

transfer function (OLTF) is equal to forward path
transfer function.
Closed-loop transfer function, M(s) is the ratio of
the Laplace transform of the output (B(s)) of a system
C ( s)
M ( s ) input (R(s)) or
to the Laplace transform of the
R(s)

TRANSFER FUNCTION FOR

FEEDBACK CONTROL SYSTEM
We obtain the equivalent, or closedloop transfer function (CLTF) shown
below:-

BLOCK DIAGRAMS
Subsystem is represented as a block
with an input, an output and a TF.
Composed of multiple subsystems.
Multiple subsystems are interconnected,
few more schematic elements must be
added to the block diagram.
New elements are: Summing junctions
Pickoff points

CASCADE FORM

PARALLEL FORM

FEEDBACK FORM

ASSIGNMENT 1
.

Prove the closed-loop transfer

function (CLTF) of negative feedback
G ( s ) as shown below is
system
1 G ( s) H ( s)

MOVING BLOCKS
a) To the left past a summing junction

MOVING BLOCKS
b) To the right past a summing junction

MOVING BLOCKS
c) To the left past a pickoff point

MOVING BLOCKS
d) To the right past a pickoff point

MOVING BLOCKS
Example 5.1 (Nise): Reduce the block diagram shown in Fig.
5.9 to a single transfer function

MOVING BLOCKS
Example 5.2 (Nise): Reduce the block diagram shown in Fig.
5.11 to a single transfer function