ISSN 0005-1144

ATKAFF 51(4), 353–360(2010)

Ali Bekir Yildiz

Modified Nodal Analysis-Based Determination of Transfer

Functions for Multi-Inputs Multi-Outputs Linear Circuits
UDK 681.511.2
IFAC 2.3.1 Original scientific paper

A generalized method for determination of transfer functions of circuits with multi-inputs multi-outputs is in-
troduced. The paper proposes a systematic and efficient formulation for generating the transfer matrix containing
transfer functions, necessary to model these kinds of circuits. The modified nodal analysis, whose application is
simpler than the state-space analysis, is used in obtaining the system equations. The method is a matrix-based
approach. It is suitable for both symbolic manipulation and numeric processes. Furthermore, the frequency domain
analysis is realized using the system model. Application examples are included to illustrate the method.
Key words: Transfer function, Transfer matrix, Modified nodal approach, Frequency analysis

Modificirana metoda čvorova u svrhu odreživanja prijenosne funkcije linearnih sustava s više izlaza i
više ulaza. Predstavljena je općenita metoda za odreživanje prijenose funkcije sustava s više ulaza i više izlaza.
U ovome članku predložena je sistematična i efikasna formulacija za računanje prijenosne matrice koja sadrži
prijenosne funkcije, nužne za modeliranje sustava ovakvog tipa. Modificirana metoda čvorova, čija je primjena
jednostavnija nego analiza u prostoru stanja, koristi se za odreživanje jednadžbi sustava. Predložena metoda temelji
se na matričnom računu. Prikladna je za simboličko i numeričko računanje. Nadalje, koristeći model sustava
napravljena je i frekvencijska analiza. Takožer, priloženi su i primjeri radi ilustracije primjene metode.

Ključne riječi: prijenosna funkcija, prijenosna matrica, izmijenjena metoda čvorova, frekvencijska analiza

1 INTRODUCTION about the realization of several transfer functions are given

The transfer functions are defined as the ratio of the out-
put response to the input (source) in s-domain. The ability
to use the transfer functions to calculate the steady-state
responses of a circuit is important. If transfer functions
are known, we can find the responses of circuits to all
kinds of excitation sources. The transfer functions are also
very useful tools in problems concerning the frequency re-
sponses of circuits. Many circuit characteristics such as
voltage/current gains, poles/zeros of the circuits can be
computed from transfer functions.
Several approaches to obtain the transfer functions are
given in symbolic or numerical format. A graph-based ap-
proach is presented for the generation of exact symbolic
network functions in the form of rational polynomials of
the complex variable (s) in [1]. A symbolic method for
generating a compact sequence of expressions for network
functions of large-scale circuits is described in [2]. A uni-
fied approach to the approximate symbolic analysis of ana-
log integrated circuits is given in [3]. The network func-
tions and their sensitivities with respect to the elements are
computed with a matrix-based method in [4]. Applications
in [5-6].
In this paper, the algebraic method for obtaining the
transfer functions of linear or linearized time-invariant cir-
cuits with multi-inputs multi-outputs is proposed. For set-
ting up the circuit equations, the modified nodal approach
(MNA), the one of the most popular methods of circuit
analysis, is used. The state variables method, the other
popular method and based on the graph theoretical ap-
proach, was developed before the modified nodal analysis.
It involves intensive mathematical process and has major
limitations in the formulation of circuit equations. Some
of these limitations arise because the state variables are ca-
pacitor voltages and inductor currents. Every circuit el-
ement cannot be easily included into the state equations.
Because of the drawbacks of state variables analysis, the
modified nodal analysis was first introduced by Ho et al.
[7] and has been developed more by including many cir-
cuit elements (transformer, semiconductor devices, short
circuit, etc.) into the system equations so far [8-11]. In
this method, the system equations can be also obtained by
inspection. It allows circuit equations to be easily and sys-
tematically obtained without any limitation. This method

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

is used for circuit synthesis of passive descriptor systems + +

in [12] and for computing the smallest, the largest and a
Ui1(s) Y1(s)
given subset of the largest eigenvalues associated with lin-
ear time-invariant circuits in [13]. − : [G + sC]X (s) = BU (s) : −
In this paper, it is shown how to use the advantages
: :
of modified nodal approach in obtaining the transfer func-
: Y(s ) = TX(s) :
tions and frequency-domain analysis of linear circuits with
+ +
multi-inputs multi-outputs. The main contribution of the
paper is that it gives a systematic formulation method in Uip(s) Yq(s)
terms of variables of MNA. The transfer functions can be
obtained as both symbolic and numeric with the proposed − −
method.
In the circuits with multi-inputs multi-outputs, the use Fig. 1. Circuit with p inputs and q outputs
of the transfer matrix, containing all transfer functions, is
required. The transfer functions, components of transfer
and transfer matrix:
matrix, can be found for only one input and one output.
According to Superposition principle, the transfer matrix Y (s) −1
is expressed by taking into account all transfer functions H(s) = = T [G + sC] B. (5)
Ui (s)
together.
The paper is organized as follows: In Section 2, the The unknown vector X(s) contains both voltage and cur-
structure of modified nodal approach, system equations in rent variables. MNA can handle all types of active and
s-domain, the expressions relating to the transfer functions passive elements. It is a very important property of MNA.
and frequency domain analysis are given. In Section 3, two Taking into account the types of variables, the unknown
application examples of the approach are given. Section 4 vector is partitioned as follows:
is the conclusion.  
X1 (s)
2 DESCRIPTION OF THE METHOD X(s) =  ........  . (6)
The modified nodal equations and the output equations X2 (s)
of a circuit with multi-inputs multi-outputs (Fig. 1) are
Here, X1 (s) represents nodal voltage variables, X2 (s) rep-
given in s-domain, (1) and (2). The nodal and output equa-
resents current variables relating to independent and con-
tions together are called the system model. The circuit in
trolled voltage sources, inductors, short circuit elements,
Fig. 1 has p inputs and q outputs:
etc, (7). If there are n nodes and m current variables in a
GX(s) + sCX(s) = BUi (s) circuit, X1 (s) vector contains n−1 nodal voltage variables
(1) except reference node (ground) and X2(s) vector contains
[G + sC] X(s) = BUi (s)
m current variables. Thus, the unknown vector X(s) con-
Y (s) = T X(s), (2) tains k = n − 1 + m variables, as in (8).
where G, C, B, T are coefficient matrices. All conduc-    
U1 (s) I1 (s)
tances and frequency-independent values arising in the  U2 (s)   I2 (s) 
MNA formulation are stored in matrix G, capacitor and    
X1 (s) =  ..  , X2 (s) =  ..  , (7)
inductor values which are frequency-dependent in ma-  .   . 
trix C. Ui (s) represents the inputs (voltage or cur- Un−1 (s) Im (s)
rent sources), Y (s) represents the output variables (volt-  
age/current). X(s) is the unknown vector. U1 (s)
The transfer functions are defined as the ratio of the out- 
 U2 (s) 

put responses to the inputs. The transfer matrix, H(s), con-  .. 
 . 
taining all transfer functions can be expressed in terms of    
X1 (s)  Un−1 (s) 
the matrices of MNA system, as follows. From (1):  
X(s) =  ........  =
 ..............
.
 (8)
X(s) = [G + sC]
−1
BUi (s), (3) X2 (s)  I1 (s) 
 
 I2 (s) 
 
the output equation is:  .. 
 . 
−1
Y (s) = T X(s) = T [G + sC] BUi (s), (4) Im (s)

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

From (3), X(s) vector is expressed as follows: Un−1 (s) = W(n−1)1 (s)Ui1 (s) + W(n−1)2 (s)Ui2 (s) + . . .
+ W(n−1)p (s)Uip (s)
−1 I1 (s) = Wn1 (s)Ui1 (s) + Wn2 (s)Ui2 (s) + . . .
X(s) = [G + sC] B Ui (s) = W (s)Ui (s). (9)
| {z } + Wnp (s)Uip (s)
W (s)
..
.
The W (s) matrix is of order (n − 1 + m) × p, where k = Im (s) = Wk1 (s)Ui1 (s) + Wk2 (s)Ui2 (s) + . . .
n−1+m . It is created from coefficient matrices of system + Wkp (s)Uip (s).
equations.
(11)
Let us consider (8) and (9) together: The elements of X(s) vector in (10) or (11) are circuit
variables. They are expressed in terms of the elements of
  W (s) matrix and the inputs.
U1 (s)
 U2 (s)  The elements of transfer matrix, H(s), in (5) are
 
 ..  determined in terms of W (s) matrix as follows:
 . 
 
 Un−1 (s)  Y (s)
  H(s) =
−1
= T [G + sC] B = T W (s). (12)
X(s) = 
 ............
 = W (s)U (s)
 i Ui (s) | {z }
 I1 (s) 
  W (s)
 I2 (s) 
 
 ..  The output vector is
 . 
 
Im (s) Y1 (s)
 Y2 (s) 
    
W11 (s) ..... W1p (s) Ui1 (s)  .. 
 W21 (s) ..... W2p (s)  Ui2 (s)  Y (s) =  .  = H(s)Ui (s)


 .. ..

 ..


 .. 
 . 

 . . 
 . 

 .. ..  ..  Yq (s)
 . .  . 
     
= .. ..  .. . H11 (s) ...... H1p (s) Ui1 (s)
 . .  . 
   H21 (s) ...... H2p (s) 
  Ui2 (s) 
  

 .. .. 
 .. 
 
 . .  .   .. ..  .. 
 .. ..  ..  =
 . . 
 . .

 . .  .   .. ..  .. 
 . .   . 
Wk1 (s) ..... Wkp (s) Uip (s)
(10) Hq1 (s) ...... Hqp (s) Uip (s)
(13)
According to Superposition principle, since any output in
Fig. 1 is a linear combination, the contribution of each in- The transfer matrix, H(s), consists of the sum of trans-
put source is independent of all other inputs. This means fer functions, Hij (s). This means that H(s) can be found
that any output or any circuit variable can be found by by finding the transfer function relating to every source
finding the contribution from each source acting alone and and every output alone and then adding the individual re-
then adding the individual responses to obtain the total re- sponses. The individual transfer function is obtained by:
sponse. Then, every component, Wij , of matrix W (s) rep-
resents the contributions of inputs. ¯
Yi (s) ¯¯
Hij (s) = . (14)
Equation (10) is also expressed separately as follows: Uij (s) ¯ Uij =
6 0
Ui1 = Ui2 = · · · = Uip = 0
U1 (s) = W11 (s)Ui1 (s) + W12 (s)Ui2 (s) + . . .
The transfer functions (Hij (s)) relate inputs and out-
+ W1p (s)Uip (s) puts at different ports of a circuit. Fig. 2 shows the possible
U2 (s) = W21 (s)Ui1 (s) + W22 (s)Ui2 (s) + . . . input-output configurations for a circuit with multi-inputs
+ W2p (s)Uip (s) multi-outputs. Inputs are voltage sources (Ei ) and/or cur-
rent sources (Ji ). Outputs are open circuit voltages (Uoi )
..
. and/or short circuit currents (Ioi ) at desired ports.

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

+ +
Uo1(s) In this paper, transfer functions, elements of transfer ma-
E1 trix, and frequency domain responses relating to a circuit
−
: − with multi-inputs multi-outputs are expressed systemati-
: : cally in terms of the elements of W (s) matrix.
: Circuit
Io1(s) 3 APPLICATION EXAMPLES
J1
: In this section, we give two examples in order to obtain
: : transfer matrix containing transfer functions by the pro-
: posed method.
Example 1: Consider a linear RLC circuit having two
inputs and two outputs in Fig. 3. The system equa-
Fig. 2. Input-output configurations of a circuit with multi- tions, the transfer matrix containing four transfer functions
inputs multi-outputs (Uo /E, Uo /J, Io /E, Io /J) and the frequency response re-
lating to the voltage transfer function will be obtained. El-
There are four kinds of transfer functions according to ement values are R1 = R2 = 5 Ω, C = 1 F, L = 2 H.
input sources and output variables:
Uoi (s) 1 R1 2
Voltage transfer function: HV (s) = (15a)
Ei (s) +
E
Ioi (s)
Io
C
Current transfer function: HI (s) = (15b)
Ji (s)
L
Uoi (s) 3 4
Transfer impedance function: HZ (s) = (15c)
Ji (s) +

Ioi (s) J R2
Transfer admittance function: HY (s) = . (15d) Uo
Ei (s)
−

The transfer functions are not inversions of each other.

For generating the transfer functions, the voltage and/or
Fig. 3. Circuit for Example 1
current variables relating to output ports are obtained in
terms of the elements of W (s) matrix created and the The inputs of circuit are a voltage source, E, and a cur-
sources, according to Fig. 2 and (11). rent source, J. The outputs of circuit are a open circuit
2.1 Frequency-Domain Response voltage, voltage of node 4, and a short circuit current, Io .
The circuit has n − 1 = 4 nonreference nodes. In the MNA
For frequency response of system, we replace s by jω system, X1 (s) vector contains 4 nodal voltage variables.
in (3), (4), (15), respectively: The current variables in X2 (s) vector are IL , Io , IE . Thus,
in the circuit, k = n − 1 + m = 7.
X(jω) = [G + jωC]
−1
BUi (jω) = W (jω)Ui (jω) Nodal (main) equations in s-domain:

(16a) 1 → G1 (U1 − U2 ) + IE = 0
Y (jω) = T [G + jωC]
−1
BUi (jω) = T W (jω)Ui (jω) 2 → −G1 (U1 − U2 ) + sC(U2 − U3 ) + Io = 0
(16b) 3 → G2 (U3 ) − sC(U2 − U3 ) + IL − IE − J = 0
Uoi (jω) 4 → −IL − Io = 0.
HV (jω) = (16c)
Ei (jω)
Additional equations:
Ioi (jω)
HI (jω) = (16d)
Ji (jω) U3 − U4 = sLIL , · · · U2 − U4 = 0, · · · U1 − U3 = E.
Uoi (jω)
HZ (jω) = (16e) The overall equations constitute the MNA system (17).
Ji (jω)
The output equations of system are given in (18). The
Ioi (jω) system model containing both MNA equations and output
HY (jω) = . (16f)
Ei (jω) equations can be given in matrix form, as in Fig. 1.

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

[G + sC] X(s) = BUi (s)

    
G1 −G1 0 0 0 0 1 U1 0 0
 −G1 G1 + sC −sC 0 0 1 0   U2   0 0 
    
 0 −sC G2 + sC 0 1 0 −1   U3   0 1 · ¸
     E
 0 0 0 0 −1 −1 0   U4 = 0 0  (17)
     J
 0 0 1 −1 −sL 0 0   IL   0 0 
    
 0 1 0 −1 0 0 0  Io   0 0 
1 0 −1 0 0 0 0 IE 1 0
The output equations:
· ¸ · ¸
Uo 0 0 0 1 0 0 0 £ ¤T
Y (s) = T X(s) = = U1 U2 U3 U4 IL Io IE . (18)
Io 0 0 0 0 0 1 0

The system model, (17) and (18), can be systematically Thus, the desired transfer functions in terms of the compo-
obtained by inspection because of the advantages of MNA. nents of W (s) are calculated systematically.
By using this system model, the matrix W (s) is created.

   
U1 W11 (s) W12 (s)
 U2   W21 (s) W22 (s) 
   
 U3   W31 (s) W32 (s) · ¸
    E
X(s) =  U4  = [G + sC]−1 B Ui (s) = W (s)Ui (s) =  W41 (s) W42 (s)  (19)
  | {z }   J ,
 IL   W51 (s) W52 (s) 
  W (s)  
 Io   W61 (s) W62 (s) 
IE W71 (s) W72 (s)
where,    
W11 (s) W12 (s) £ 1 ¤ R2
 W21 (s) W22 (s)   sL/ s2 LCR1 + sL + R1 R2 
   
 W31 (s) W32 (s)   0 R2 
   £ ¤ 
 W41 (s) W42 (s) = sL/ £s2 LCR1 + sL + R1 ¤ R2 . (20)
   
 W51 (s) W52 (s)   −1/£ s2 LCR1 + sL + R1¤ 0 
   
 W61 (s) W62 (s)   1/ s2 LCR 
£ 1 + sL + R1 ¤ 0
W71 (s) W72 (s) −(s LC + 1)/ s2 LCR1 + sL + R1
2
0

The elements of transfer matrix, H(s), in (12) are determined in terms of W (s) matrix as follows:

 
W11 (s) W12 (s)
 W21 (s) W22 (s) 
 
· ¸ W31 (s) W32 (s)  · ¸
Y (s) 0 0 0 1 0 0 0 


 = W41 (s) W42 (s) .
H(s) = = T W (s) = W41 (s) W42 (s) (21)
Ui (s) 0 0 0 0 0 1 0 


 W61 (s) W62 (s)
 W51 (s) W52 (s) 
 W61 (s) W62 (s) 
W71 (s) W72 (s)

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

The desired transfer functions are obtained as follows:

¯
Uo ¯¯ sL 2s
HV (s) = ¯ = W41 (s) = 2 → HV (s) = (22a)
E J=0 s LCR1 + sL + R1 10s2 + 2s + 5
¯
Uo ¯¯
HZ (s) = = W42 (s) = R2 → HZ (s) = 5 (22b)
J ¯E=0
¯
Io ¯¯ 1 1
HY (s) = = W61 (s) = 2 → HY (s) = (22c)
E ¯J=0 s LCR1 + sL + R1 10s2 + 2s + 5
¯
Io ¯¯
HI (s) = = W62 (s) = 0 → HI (s) = 0. (22d)
J ¯E=0

The desired transfer matrix and output vector are given

as follows:

Y (s) = H(s)Ui (s)

 
  2s
Uo  10s2 + 2s + 5 5  E 
(23)
 = 

 .
Io  1  J
0
10s2 + 2s + 5

Substituting s = jω in (22.a), the frequency response

relating to the voltage transfer function is obtained:

2jω
HV (jw) = . (24)
−10ω 2 + 2jω + 5
Fig. 4. Bode plots of the frequency response

For the voltage transfer function in (24), Bode plots of C

the frequency response are given in Fig. 4.
Example 2: Consider a OP-AMP circuit having two
inputs and one output in Fig. 5. The system equations and Rf
the transfer matrix will be obtained. 1 R1
3 In
−
The circuit has n−1 = 5 nonreference nodes, including 5
+
4 Ip
input-output terminals of Op Amp. Thus, in the MNA sys- + 2 +

tem, X1 (s) vector contains 5 nodal voltage variables. The E1 + R2 Uo

R3
voltage and current constraints of ideal Op−Amp are Ip = E2
0, In = 0, Up − Un = 0. The current variables in X2 (s)
vector are IE1 , IE2 . In the circuit, k = n − 1 + m = 7.
Nodal (main) equations in s-domain:
Fig. 5. Circuit for Example 2
1 → G1 (U1 − U3 ) + IE1 = 0
2 → G2 (U2 − U4 ) + IE2 = 0
Additional equations:
3 → Gf (U3 − U5 ) − G1 (U1 − U3 )
+ sC(U3 − U5 ) + In = 0 U3 − U4 = 0 → Op Amp constraint Ip = 0, In = 0
4 → G3 U4 − G2 (U2 − U4 ) + Ip = 0. U1 = E1 , U2 = E2 .

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Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits A. B. Yildiz

The overall equations constitute the MNA system (25). The output equation of the system is given in (26).

[G + sC] X(s) = BUi (s)

    
G1 0 −G1 0 0 1 0 U1 0 0
 0 G2 0 −G2 0 0 1  U2   0 0 
    
 −G1 0 G1 + Gf + sC 0 −Gf − sC 0 0  U3   0 0 · ¸
     E1
 0 −G2 0 G2 + G3 0 0 0  U4 = 0 0  (25)
     E2 .
 0 0 1 −1 0 0 0  U5   0 0 
    
 1 0 0 0 0 0 0  IE1   1 0 
0 1 0 0 0 0 0 IE2 0 1

The output equation Y (s) = T X(s) is given as:

£ ¤£ ¤T
Y (s) = T X(s) = [Uo ] = 0 0 0 0 1 0 0 U1 U2 U3 U4 U5 IE1 IE2 . (26)

By using this system model, the matrix W (s) is created. W (s) is calculated systematically.
Thus, the transfer matrix in terms of the components of

   
U1 W11 (s) W12 (s)
 U2   W21 (s) W22 (s) 
   
 U3   W31 (s) W32 (s) · ¸
    E1
X(s) =  U4  = [G + sC]−1 B Ui (s) = W (s)Ui (s) =  W41 (s) W42 (s)  (27)
  | {z }   E2 ,
 U5   W51 (s) W52 (s) 
  W (s)  
 IE1   W61 (s) W62 (s) 
IE2 W71 (s) W72 (s)
where,
   
W11 (s) W12 (s) 1 0
 W21 (s) W22 (s)   0 1 
   
 W31 (s) W32 (s)   0 R3 / [R2 + R3 ] 
   
 W41 (s) W42 (s) = 0 R3 / [R2 + R3 ] .
   
 W51 (s) W52 (s)   Rf / [R1 (1 + sCRf )] [(R1 + Rf + sCR1 Rf )R3 ] / [R1 (R2 + R3 )(1 + sCRf )] 
   
 W61 (s) W62 (s)   −1/R1 R3 / [R1 (R2 + R3 )] 
W71 (s) W72 (s) 0 −1/ [R2 + R3 ]
(28)

The elements of transfer matrix, H(s), are determined in terms of W (s) matrix as follows:

 
W11 (s) W12 (s)
 W21 (s) W22 (s) 
 
 W31 (s) W32 (s) 
Y (s) £ ¤  £ ¤
H(s) = = T W (s) = 0 0 0 0 1 0 0 
 W41 (s) W42 (s)  = W51 (s) W52 (s) .
 (29)
Ui (s)  
 W51 (s) W52 (s) 
 W61 (s) W62 (s) 
W71 (s) W72 (s)

AUTOMATIKA 51(2010) 4, 353–360 359

Modified Nodal Analysis-Based Determination of Transfer Functions for Multi-Inputs Multi-Outputs Linear Circuits
The desired transfer matrix and the output vector are given as follows:
Y (s) = H(s)Ui (s)
· ¸
Rf
Uo =
R1 (1 + sCRf )
4 CONCLUSION
The main difficulty in determining the transfer func-
tions in circuit analysis arises from obtaining the system
equations. In general, the system equations are determined
from state variable analysis having some structure re-
strictions. In this paper, an efficient and systematic ap-
proach for determining the transfer matrix of circuits with
multi-inputs multi-outputs has been presented. The pro-
posed method uses the modified nodal approach suitable
for computer-aided analysis. It is based on the use of
components of the matrix created, W(s), from the system
equations. Determining transfer matrix containing trans-
fer functions relating to the examples of passive and active
circuits shows the efficiency of the given approach. For
future work, a computer program about the transfer func-
tions and frequency domain analysis of circuits with multi-
inputs multi-outputs can be written by using the presented
method. Moreover, the noise analysis, one of interesting
applications of network analysis, can be also realized by
this method.
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360
A. B. Yildiz
 
E1
(R1 + Rf + sCR1 Rf )R3  
(30)
R1 (R2 + R3 )(1 + sCRf )
E2
[7] C.W. Ho, et al., The Modified Nodal Approach to Network
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sue 1, 2009.
Ali Bekir Yildiz was born in Sakarya, Turkey in
1970. He received the B.S. and M.S. degrees in
electrical engineering from Yildiz Technical Uni-
versity, Istanbul, in 1991 and 1993, respectively,
and the Ph.D. degree in electrical engineering
from Kocaeli University, Kocaeli in 1998. Since
1999, he has been on Engineering faculty, electri-
cal engineering department at Kocaeli University,
Turkey, where he is currently Asc.Prof.Dr. He
published two books relating to electric circuits.
His research interests are in computer-aided anal-
ysis and modeling of active and passive circuits, modeling of semiconduc-
tor switches, analysis of power electronic circuits, modeling and analysis
of DC machines.
AUTHOR’S ADDRESSES
Asc. Prof. Ali Bekir Yildiz, Ph.D.
Department of Electrical Engineering,
Engineering Faculty,
Kocaeli University,
Umuttepe Campus, 41380, Kocaeli, Turkey
email: abyildiz@kocaeli.edu.tr
Received: 2010-03-16
Accepted: 2011-02-01
AUTOMATIKA 51(2010) 4, 353–360