CH - 04 Transfer Function Approach V-06 PDF

ME 413 System
Dynamics & Control
Dr. A. Aziz Bazoune

Mechanical Engineering Department
King Fahd University of Petroleum & Minerals
Chapter 4
Transfer Function
Approach to Modeling
Dynamic Systems
Transfer Function
Approach to
Modeling Dynamic
Systems
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A. Aziz Bazoune
ME 413 System Dynamics & Control
CH 04 Transfer Function Approach Slide 4
CHAPTER CONTENTS
4-1
Introduction
4-2
Block Diagrams
4-3
Partial-Fraction Expansion with MATLAB
4-4
Transient-Response Analysis with MATLAB
Example Problems and Solutions
A. Aziz Bazoune
CHAPTER OBJECTIVES
When you have finished this chapter, you should be able to:
define the concept of Transfer Function (TF).

identify the characteristic polynomial and characteristic equation of the TF.
use the TF approach in finding the response of dynamic systems.
A. Aziz Bazoune
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
a 0y (n ) a1y (n 1) an 1y an y b0x (m ) a1x (m 1) bm 1x bm x

where
is the output and
is the input. The TF of this system is
Transfer F unction ( TF
L output
) G s
L input
A. Aziz Bazoune
Y s
X s
b0s m
a0s n
zero initial conditions
b1s m 1
a1s n 1
bm 1s bm
an 1s an
The TF of this system is the ratio of the Laplace-transformed output to the Laplacetransformed input when all initial conditions are zero, or
L output
Y s b0sm b1sm1 bm1s bm
X
s
a0sn a1sn1 an1s an
L input zero initial
conditions
X s
Input
b0 s m b1s m1 bm1s bm
a0 s n a1sn1 an1s an
Y s
Output
Transfer Function
Characteristic Polynomial :
a0 s n a1sn1 an1s an
Characteristic Equation :
a0 s n a1sn1 an1s an 0
A. Aziz Bazoune
Comments on the TF
The applicability of the concept of the 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.
A. Aziz Bazoune
Example
Obtain the TF of the mechanical system shown. The displacement
mass
of the
is measured from the equilibrium position. In this system, the external
force ( ) is the input and
Solution
is the output.
The FBD is shown in the figure.
f t
Applying NSL of motion to a system in translation gives
F m x
bx kx f t mx
x t
mx bx kx f (t )
kx
For zero (I.Cs), taking (LT) of both sides of the above equation yields.
ms 2 bs k X s F (S )
where
X s L x t
X s
The Transfer Function is
A. Aziz Bazoune
F s
and
G (s )
Input
bx
F s L f t
Output
f t
x
1
ms 2 bs k
Free Body Diagram

(FBD)
X s
F s
Output
G (s )
Input
ms 2 bs k
X s F s G s
X s F s G s
G (s )
The Transfer Function is
3 related quantities
In genera you will be given
ms bs k
2 quantities and asked to

find the third one.
Block Diagram representation of The TF
F s
Input
A. Aziz Bazoune
1
2
ms bs k
Transfer Function G(s)
X s
Output
Impulse Response Function

G (s )
The TF of a LTI system is
is the input and
Y s
X s
is the output. We assume all I.Cs involved are zero. It follows that
output
Y s G (s )X s
(4-2)
input
Consider the output (response) of the system to a unit-impulse

zero. Since L
input when all the I.Cs are
= 1, the LT of the output of the system is
Y s G (s )
(4-3)
The inverse LT of the output of the system is given by Equation 4-3 yields the impulse
response of the system, i.e;
y t =
G s g t
-1
is called the impulse response function or the weighting function, of the system.
A. Aziz Bazoune
The impulse-response function g(t) is thus the response of a linear system to a unit-impulse input
when the initial conditions are zero.
The Laplace transform of g(t) gives the transfer function.

Therefore, the transfer function and impulse-response function of a linear, time-invariant system
contain the same information about the system dynamics.
It is hence possible to obtain complete information about the dynamic characteristics of a system by
exciting it with an impulse input and measuring the response. (In practice, a large pulse input with a
very short duration compared with the significant time constants of the system may be considered an
impulse.)
A. Aziz Bazoune
4.2 Block Diagrams

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.
In a BD, all system variables are linked to each other through functional blocks.
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 TFs 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.
Transfer Function
G(s)
A. Aziz Bazoune
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.
R s
input
C s
Transfer Function
G s
output
C s R(s )G (s )
Signals
(Only in indicated direction)
Figure 4-3 Elements of a Block Diagram (BD)
Note that
Dimension of the Dimension of the Dimension

output signal = input signal
of the TF
A. Aziz Bazoune
Summing Point
Figure 4-4 shows the symbol for a summing () operation. The + or
sign at each arrowhead indicates whether the associated signal is to be
added or subtracted.
Figure 4-4 Summing point
Branch Point
A branch point is a point from which the signal goes concurrently to other blocks or () points.
Block Diagram of a Closed Loop System
Figure 4-5 is a block diagram of a closed-loop system.

The output C(s) is fed back to the ()
point, where it is compared with the
input R(s).
The output C(s) of the block is
C s E s G s
Figure 4-5 Block Diagram of a closed loop system
A. Aziz Bazoune
Any linear system can be represented by a block diagram consisting of blocks, () points, and branch
points.
When the output is fed back to the () 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 C s H s
Figure 4-6 Block diagram of a closed-loop system with feedback element.

A. Aziz Bazoune
Problem B-4-5 (Textbook)

The system shown in Figure 4-54 is initially at rest, and the displacement
equilibrium position. At = 0, a force
is applied to the system. If
output, obtain the transfer function
is the input to the system and
is the
x
k1
is measured from the
k3
k2
Figure 4-54
A. Aziz Bazoune
Solution
Define displacements
and
as shown in the figure.
Applying NSL for translation for mass m gives
mx k1x b x y k2 x y mx
(E-1)
Applying NSL for translation for massless junction (A) gives.
0 b y x k2 y x k 3 z y u
Rewriting Eqs (1) and (2), we get
mx bx k1 k2 x by k2y
(E-3)
by k2y bx k2x u
(E-4)
x
k1
(E-2)
k3
k2
A. Aziz Bazoune
Eliminating
from Eqs (3) and (4), we get
mx bx k1 k2 x bx k2x u
mx k1x u
or
X s
The TF of the system is
U s
Notice that the response of the mass

the mass
(E-5)
1
ms 2 k1
(E-6)
shown in the previous figure is the same as the response of
of the system shown, below.
x
k1
A. Aziz Bazoune
4.3 Partial Fraction Expansion with MATLAB

MATLAB Representation of Transfer-Functions (TF) Systems
Example 4.3 Textbook
Obtain a mathematical model of the spring-mass-dashpot system

mounted on a massless cart as shown in Figure 4-7 by assuming
Massless cart
that both the cart and the spring-mass-dashpot system are at rest
for < 0.
: is the displacement of the cart and the input to the system.
The displacement
of the mass relative to the ground is the
output..
Determine the output
analytically when m = 10 kg, b = 20 N-
s/m, and k = 100 N/m. The input is assumed to be a unit-step

input.
Figure 4-7
A. Aziz Bazoune
Solution
FBD is shown.
Apply NSL for a system in translation gives
m y
b y u k y u m y
or
m y by ky bu ku
For Zero I.Cs take LT of both sides of the above Eq.
m s 2 b s k Y s b s k U s
or
bs k
Y s U s
ms 2 b s k
Input
TF
A. Aziz Bazoune
MATLAB Implementation: Step response

For m =10 kg, b = 20 N-s/m and k = 100 N/m, find the response
for a unit step input
=1
MATLAB PROGRAM:
>> m = 10; b = 20;
>> k = 100;
>> num = [b k];
>> den = [m b k];
>> sys = tf(num,den)
Transfer function:
20 s + 100
------------------------10 s^2 + 20 s + 100
>> step(sys)
A. Aziz Bazoune
The analytic expression of the response

Y s
U s
20s 100
10s 2 20 s 100
can be obtained by completing the square method.
2s 10
s 2 2 s 10
and
U s
1
s
s 2 2 s 10
1 2s 10
1
2
s
10
Y s

s s 2 2 s 10 s s 2 2 s 1 9
2
2
2
s
s s 1 32
s 1 3
10 10
2 2
0
0
1
s 1
1
s
1
s 11
1
1
3
Y s

s s 1 2 32
s s 1 2 32
s s 1 2 32
3 s 1 2 32
1
y t 1 e t cos 3t e t sin 3t
3
A. Aziz Bazoune
Example 4.4 Textbook

The mechanical system shown in Figure 4-8 is
initially at rest. The displacements
and
Fictitious
mass
are
measured from their respective equilibrium positions.
Assuming
displacement
is a step force input and the

is the output.
Obtain the Transfer Function (TF) of the system.

Using m = 0.1 kg, b2 = 0.4 N-s/m, k1 = 6 N/m, k2 = 4
N/m, and
is a step force of magnitude 10 N
obtain an analytical solution
Mechanical System
Solution
Free Body Diagram

Figure 4-8
Assume a fictitious mass m2 between k2 and b2.

Draw the FBD of the system.
Apply NSL for each mass in a translating system.
A. Aziz Bazoune
Applying NSL for translational motion for mass m gives
m x
Fictitious
mass
k1 x k2 y x p t m x
Summation of all forces

acting on the mass m
m x k1 k2 x k2y p t
(E-1)
Applying NSL for translational motion for mass m2 gives
m2
b2 y k2 y x 0
Summation of all forces

acting on the mass m2
b2 y k2 y k2 x 0
(E-2)
For zero I.Cs, applying LT of both sides

of Eqs. (E-1) and (E-2) gives
ms 2 k k X s k Y s P (s )
1
2
2
k2X s b2 s k2 Y s 0
Eqs (E-3) and (E-4) constitute a system of 2 equations with 2 unknowns

.
A. Aziz Bazoune
(E-3)
(E-4)
and
Solving Eq. (E-2) for
Y s
gives
k2
b s k
2
2
X s
(E-5)
Substitution of Eq. (E-5) into Eq. (E-2) gives
k22
ms k k X s
X s P (s )
1
2
b s k
2
2
2
G1 s
X s
P s
b2 s k2
mb2s mk2s k1 k2 b2 s k1k2
3
Eqs (E-6) represents the TF of the system output

3rd order system because of
A. Aziz Bazoune
and input
Y s
P s
and input
is given by
Same characteristic
polynomial
k2
m b2s m k2s k1 k2 b2 s k1 k2
3
(E-6)
. It represents a
in the characteristic polynomial.
Similarly, the TF of the system output
G2 s
(E-7)
For m =0.1 kg, b2 = 0.4 N-s/m, k1 = 6 N/m and k2 = 4 N/m, find the responses
and
for a step
input of magnitude 10 N.
>> m=0.1; b2=0.4; k1=6;k2=4;

>> num1=[b2
k2];
>> num2=[k2];
>> den=[m*b2
m*k2
k1*b2+k2*b2
>> sys1=tf(num1,den)
k1*k2];
Transfer function:
0.4 s + 4
------------------------------------0.04 s^3 + 0.4 s^2 + 4 s + 24
>> sys2=tf(num2,den)
Transfer function:
4
------------------------------------0.04 s^3 + 0.4 s^2 + 4 s + 24
A. Aziz Bazoune
Can you find

this limit?
>> step(10*sys1,'r:',10*sys2,'b')
>> grid
>> gtext('x(t)');gtext('y(t)')
May be Using The Final

value Theorem (FVT)?
A. Aziz Bazoune
To obtain an analytical solution for
for a step input of magnitude 10 N, substituting the given
numerical values for the mass, springs and dashpot elements gives
X s
P s
0.4 s 4
3
0.04s 0.4s 4 s 24
10 s 100
3
s 10s 100 s 600
10 s 100
10
X s
s 3 10s 2 100 s 600 s
To obtain
the inverse LT of
, we need to express
Matlab Program
>> den=[1
10
600
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
1000];
100
10
s
Poles of a 4th order equation are very

difficult to find. Get the help of Matlab
into partial fractions. Using Matlab gives
>> num=[100
and
U s
0];
>> [r,p,k]=residue(num,den)
k=
[]
A. Aziz Bazoune
Therefore,
can be written as
0.6845 j 0.2233
0.6845 j 0.2233
0.2977
1.6667
s 1.2898 j 8.8991 s 1.2898 j 8.8991 s 7.4204

s
1.3690
s
1.2898
3.9743
0.2977
1.6667
s 7.4204
s
s
1.2898
8.89912
X s
and
1.3690e 1.2898t cos 8.8991t

X
s
3.9743 1.2898t
e
sin 8.8991t 0.2977e 7.4204t 1.6667
8.8991
x (t )
-1
0.4466
A. Aziz Bazoune
Once the TF
of a system is obtained, the response of the system to any input
can be determined by taking the inverse LT of
X s
-1
Finding the inverse LT of
, or
G s U s
-1
may be time consuming if the TF
complicated, even though the input
of the system is
may be a simple function of time.
Unless, for some reason, an analytical solution is needed, we should use a computer to get a
numerical solution.
A. Aziz Bazoune
4.4 Transient Response Analysis with MATLAB

Figure 4-9 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.
Example
Consider the system

Y s
X s
2s 25
s 2 4s 25
Figure 4-9
MATLAB Program
>> num=[2
>> den=[1
25];
4
25];
>> sys = tf(num,den)
A. Aziz Bazoune
Transfer function:
2 s + 25
-------------s^2 + 4 s + 25
Impulse Response with MATLAB
Example
Consider the previous Example 4.4 but with an
impulsive input load 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
>> sys1 = tf(num1,den);
>> sys2 = tf(num2,den);
>> impulse(10*sys1,'r:',10*sys2,'b')
>> grid
>> gtext('x(t)');gtext('y(t)')
A. Aziz Bazoune
k1*k2]
Response to Arbitrary Input
Example
Consider Example 4-3. The TF of the system is
Y s
U s
A. Aziz Bazoune
bs
m s 2 b s
Assume that m = 10 kg, b = 20 N-s/m and k = 100 N/m,
find the response y(t) for a ramp input u(t) = 2 t.
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)')
=2
A. Aziz Bazoune
Example
Find the response y(t) of the previous Example if the input is shown by the figure below.
MATLAB Program
>> m = 10; b = 20; k = 100;
>> num = [b k];
>> den = [m b k];
>> 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(u(t)');gtext('y(t)')
A. Aziz Bazoune
http://www.mwit.ac.th/~physicslab/applet_04/fun@learning/JAVA/dho/dho2.html
http://www.geneseo.edu/~heap/applets/Spring/spring.html
http://www.cabrillo.edu/~jmccullough/Applets/oscillations.html
http://phet.colorado.edu/en/simulation/mass-spring-lab
QUESTIONS ...?
A. Aziz Bazoune

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ME 413 System

Dynamics & Control

Dr. A. Aziz Bazoune

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 4

Partial-Fraction Expansion with MATLAB

Transient-Response Analysis with MATLAB

Example Problems and Solutions

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 5

define the concept of Transfer Function (TF).

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 6

Transfer Function (TF)

a 0y (n ) a1y (n 1) an 1y an y b0x (m ) a1x (m 1) bm 1x bm x

is the output and

is the input. The TF of this system is

zero initial conditions

ME 413 System Dynamics & Control

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 8

The TF of a system is a mathematical model of that system, in that it is an operational method of

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 9

is measured from the equilibrium position. In this system, the external

force ( ) is the input and

The FBD is shown in the figure.

Applying NSL of motion to a system in translation gives

ME 413 System Dynamics & Control

Free Body Diagram

CH 04 Transfer Function Approach Slide 10

The Transfer Function is

In genera you will be given

2 quantities and asked to

Block Diagram representation of The TF

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 11

Impulse Response Function

The TF of a LTI system is

is the input and

Consider the output (response) of the system to a unit-impulse

input when all the I.Cs are

= 1, the LT of the output of the system is

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 12

The Laplace transform of g(t) gives the transfer function.

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 13

4.2 Block Diagrams

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 14

Figure 4-3 Elements of a Block Diagram (BD)

Dimension of the Dimension of the Dimension

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 15

Block Diagram of a Closed Loop System

Figure 4-5 is a block diagram of a closed-loop system.

The output C(s) of the block is

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 16

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

ME 413 System Dynamics & Control

CH 04 Transfer Function Approach Slide 17