Transfer Function and Mathematical Modeling

Transfer Function and
Mathematical Modeling
 Transfer Function
Poles And Zeros of a Transfer
 Function
Properties of Transfer Function
 Advantages and Disadvantages of
T.F.

 Transferfunction gives us the relationship between the
input and the output and hence describes the system.
 In control systems, the input is represented as r(t)

(instead of x(t)) and the output is represented as c(t)
(instead of y(t)).
 Once the concept of Transfer function is understood,
Let us move a little further.
Let the Transfer function of a system be represented
as G (s).
i.e. G (s) =
Vo (s)
 Or more genVeir(as)lly G(s) =
C(s)
 Where C(s) :- Laplace tranRs(fso) rm of output ;

R(s) :- Laplace transform of input.
 Both C(s) and R(s) are polynomials in s.
 i.e. G(s) =
=
K(s-b1) (s-b2) (s-b3)…(s-bm)
(s-a1) (s-a2) (s-a3)…(s-an)
 Poles :- poles of a transfer function are the values of

the Laplace transform variable, s, that cause the
transfer function to become infinite.
 When s=a1, s=a2, s=a3…s=an, the transfer function
G(s) becomes infinite.

 Hence a1,a2,a3…an are the poles of the transfer
function.
 If we equate the denominator of the transfer function
to zero, we obtain the poles of the system.

 Zeros :- zeros of a transfer function are the values of
the Laplace transform variable, s, that cause the
transfer function to become zero.
 When s=b1, s=b2, s=b3…s=bm, the transfer function

G(s) becomes equal to zero.
 Hence b1,b2,b3…bm are the zeros of the transfer

function.
 If we equate the numerator of the transfer function to

zero, we obtain the zeros of the system.
1. The transfer function of a system is the Laplace
transform of its impulse response for zero
initial conditions.
2. The transfer function can be determined from
system input-output pair by taking ratio Laplace of
output to Laplace of input.
3. the transfer function is independent of the
inputs to the system.
4. The system poles/zeros can be found out from
transfer function.
5. The transfer function is defined only for linear time
invariant systems. It is not defined for non-linear
systems.
 Advantages :-
1. It is a mathematical model that gives the gain of the
given block/system.
2. Integral and differential equations are converted to
simple algebraic equations.
3. Once the transfer function is known, any output for
any given input, can be known.
4. System differential equation can be obtained by
replacement of variable ‘s’ by ‘d/dt’
5. The value of transfer function is dependent on the
parameters of the system and independent
of the input applied.
 Disadvantages :-
1. Transfer function is valid only for Linear Time

Invariant systems.
2. It does not take into account the initial conditions.

Initial conditions loose their significance.
3. It does not give any idea about how the present

output is progressing.
 Translation motion
 Rotational motion
 Translation-Rotation
counterparts
 Analogy system
 Force-Voltage analogy
 Force-Current Analogy
 Advantages
 Example
As stated earlier translation
motion refer to a type of motion in which a body or an
object moves along a linear axis rather than a rotation
axis.
Translation motion
involves moving left or right , forward or back , up
and down.
The following three basic

element viz.
1) Mass
2) Spring
3) Damper
• A model of the mass element assumes that
the mass in concentrated at the body.
• The Displacement of the mass always take place

in the direction of the applied force.
We know, force = Mass * Acceleration
F =M.a
 If a mobile phone on the table needs to be pushed
from one place two other, we needs to apply
force.
 The force that we apply will have to overcome
this friction.
 Friction exists between a moving body and a

fixed support or also between moving surface.

 while friction opposes motion, it is not
always unesirable
The fig. shows friction in the despot
• In case of a spring , we require force to deform the
spring.
• Here the force is proportional to the

displacement.
• Net displacement on application of force f(t) at and
X1 and X2
F(t) = K [ X1(t)-
X2(t)]
In such system, force
get replaced by Torque(T), displacement by
displacement (), velocity by angular
angular
velocity( ) and acceleration by angular
acceleration( ).
• The following three element
viz.
1) . Inertia J
2) . Damper
3) . Spring
 In rotation motion, we have a concept of
inertia.
T=
2).
•Damper
As stated earlier, it’s behavior is similar to that
in translation motion.
T(t) =
B.
• Like the damper, the spring is also similar to the
one studied in translation motion.
T = K (t)
Sr. No. Translation Motion Rotational Motion
1 Mass (M) Inertia
2 Damper (J)
Damper
3 (B)
Spring (K) (B)
Spring
4 Force (F) (K)
Force (T)
5 Displacement (X) Angular
6 Velocity = Displacement
v Angular Velocity
=
 There are two main electrical analogous system :
1) Force-voltage analogy
2) Force-current analogy
 Now that we have Discussed mechanical system as well
electrical system, it is worth nothing that exists a
analogy- similarity in their equations.
 According to Newton’s law, the applied force will be
used up to cause displacement in the spring,
acceleration to the mass against the friction force.
+ + Kx
(t)
we
get, F(t) = M S2 X(s) + s B(s) X(s) + K
x(s)
• This equation is called equilibrium equation of

the mechanical system.
• Here force is analogous to
voltage.
v(t) = Ri +L +
. dt
put, i=
v(t) = R + +
L q
ω
Translation Electrical Rotational

Force F Voltage - Torque - T
V
Mass Inductance - L Inertia J
M
Dumper Resistance - Damper -
B B
Spring K R
Elasticity –D Spring K
=
Displacement Charge - Displacemen
q t
Velocity Current - i Velocity -
X
- = ω
V
• Standard equation for a Translationalsystem
is
+
+ K x (t)
 V
F following analogies
The
 L
M
 K R
 B

Q
X
 Standard equation for a Rotational
system is
T=J + B. +
K
The following
analogies
•T V


J L
B
 K R
 Q
Here force is analogous to
current.
I= + ∫ V.
dt C
put, v =
I= . +
+C
 i(s)=1/R.S. .S
Translation Electrical Rotational
Force F Voltage - Torque - T
i
Mass Capacitance - C Inertia J
M
Spring K Resistance of Spring K
inductance
-
Damper Conductance Damper -

B = B
Displacement Flux linkege - Displacement

X -
Veloci Voltage V Veloci
ty = ty
 Standard equation for a Translation system
is
+ + Kx
(t)
The following
F
•analogies I
• M

C
B

 Standard equation for a Rotational
system is
T=J + B .+ K
The following
analogies
• T I

C

J
B
• K
 Q
• Equation of the system can be converted
into another.
• Trial design in one system involving changinge of the

values M , B , K may be costlier than changing in R
, L,C .
2
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Transfer Function and

 In control systems, the input is represented as r(t)

 Where C(s) :- Laplace tranRs(fso) rm of output ;

 Poles :- poles of a transfer function are the values of

G(s) becomes infinite.

to zero, we obtain the poles of the system.

 When s=b1, s=b2, s=b3…s=bm, the transfer function

 Hence b1,b2,b3…bm are the zeros of the transfer

 If we equate the numerator of the transfer function to

1. Transfer function is valid only for Linear Time

2. It does not take into account the initial conditions.

3. It does not give any idea about how the present

The following three basic

• The Displacement of the mass always take place

 Friction exists between a moving body and a

• Here the force is proportional to the

• This equation is called equilibrium equation of

Translation Electrical Rotational

Damper Conductance Damper -

Displacement Flux linkege - Displacement

• Trial design in one system involving changinge of the

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