Chapter 4

Chapter 4

Transfer Functions

Chapter Objectives

Chapter 4

End of this chapter, you should be able to:

Define what is a transfer function
Develop transfer functions from mathematical models
Use properties of transfer functions in simplifying and
analyzing models
Use linearization to derive transfer functions for
nonlinear processes

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Chapter 4

Transfer Functions
An algebraic expression
Convenient representation of a linear,
dynamic model
A transfer function (TF) relates one
input and one output:
x (t )
y (t )
system
X (s)
Y (s)
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Chapter 4

Transfer Functions
Independent of initial conditions
Independent of particular choice of forcing
functions
The following terminology is used:

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input

output

forcing function

response

cause

effect
4

Chapter 4

Definition of transfer function

Let G(s) denote the transfer function
between an input, x, and an output, y. Then,
by definition
G (s) =

Y (s)

X (s)

where:
Y ( s ) = L y ( t )
X ( s ) = L x ( t )
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Development of Transfer Functions

Chapter 4

Example: Stirred Tank Heating System

Figure 2.3 Stirred-tank heating process with constant holdup, V.

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Recall the previous dynamic model, assuming constant liquid

holdup and flow rates:

Chapter 4

dT
V C = wC (Ti T ) + Q
dt

(2-36)

Suppose the process is at steady state:

=
0 wC (Ti T ) + Q

(2)

Subtract (2) from (2-36):

dT
V C = wC (Ti Ti ) (T T ) + ( Q Q )
dt

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(3)

But,

Chapter 4

dT
V C = wC (Ti T ) + Q
dt

(4)

where the deviation variables are

T =
T T , Ti =
Ti Ti , Q =
Q Q
Take L of (4):
wC Ti( s ) T ( s ) Q ( s ) (5)
V C sT ( s ) T ( 0 )=
At the initial steady state, T(0) = 0.

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Rearrange (5) to solve for

Chapter 4

K
1

T ( s )
=
Q ( s ) +
Ti( s )
s +1
s +1

(6)

where

1
V
=
K =
and
wC
w

T ( s )=G1 ( s )Q( s ) + G2 ( s )Ti( s )

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G1 and G2 are transfer functions and independent of the

inputs, Q and Ti.

Chapter 4

Note G1 (process) has gain K and time constant .

G2 (disturbance) has gain=1 and time constant .
Gain = G(s=0). Both are first order processes.
If there is no change in inlet temperature (Ti= 0),
then Ti(s) = 0.
System can be forced by a change in either Ti or Q
(see Example 4.1).
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10

Chapter 4

Conclusions about TFs

1. Note that (6) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
valid.
2. The TF model enables us to determine the output response to
any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.

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11

Example: Stirred Tank Heater

K = 0.05 = 2.0

Chapter 4

0.05
T =
Q
2s + 1

No change in Ti

Step change in Q(t):

500

Q =
s
=
T

1500 cal/sec to 2000 cal/sec

0.05 500
25
=
2s + 1 s
s (2 s + 1)

What is T(t)?

(t ) 25[1 e
=
T

t /

From line 13, Table 3.1

25
=
]
T (s)
s ( s + 1)

t / 2

T=
(t ) 25[1 e ]
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12

Properties of Transfer Function Models

1. Steady-State Gain

Chapter 4

The steady-state of a TF can be used to calculate the

steady-state change in an output due to a steady-state
change in the input. For example, suppose we know two
steady states for an input, u, and an output, y. Then we can
calculate the steady-state gain, K, from:
y2 y1
K=
u2 u1

(4-38)

For a linear system, K is a constant. But for a nonlinear

system, K will depend on the operating condition ( u , y ) .
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13

Calculation of K from the TF Model:

If a TF model has a steady-state gain, then:
K = lim G ( s )

Chapter 4

s 0

(14)

This important result is a consequence of the Final Value

Theorem

Note: Some TF models do not have a steady-state gain (e.g.,

integrating process in Ch. 5)

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14

2. Order of a TF Model
Consider a general n-th order, linear ODE:

Chapter 4

an

dny
dt

+ an1
bm1

dy n1
dt n1

d m1u
dt

m 1

dy
d mu
y bm m +
+ a1 + a0=
dt
dt

du
+ + b1
+ b0u
dt

(4-39)

Take L, assuming the initial conditions are all zero. Rearranging

gives the TF:
m

Y (s)
G
=
(s) =
U (s)

i
b
s
i
i =0
n

(4-40)

i
a
s
i
i =0

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15

Definition:
The order of the TF is defined to be the order of the denominator
polynomial.

Chapter 4

Note: The order of the TF is equal to the order of the ODE.

Physical Realizability:
For any physical system, n m in (4-38). Otherwise, the
system response to a step input will be an impulse. This cant
happen.
Example:

du
=
a0 y b1
+ b0u and step change in u
dt
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(4-41)
16

2nd order process

General 2nd order ODE:

Chapter 4

d2y
dy
a 2 +b + y=Ku
dt
dt

Laplace Transform:
G (s) =

2 roots

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[as

+ bs+1 Y(s) = KU(s)

Y (s)
K
= 2
U ( s ) as + bs + 1

s1,2

b b 2 4a
=
2a

b2
>1
4a

: real roots

b2
<1
4a

: imaginary roots
17

Examples
1.

2
3s 2 + 4 s + 1

b 2 16
= = 1.333 > 1
4a 12

3s 2 + 4 s + 1= (3s + 1)( s + 1)= 3( s + 1 )( s + 1)

3

Chapter 4

transforms to e 3 , e t (real roots )

(no oscillation)

2.

2
s2 + s + 1

b2 1
=
<1
4a 4

s 2 + s + 1 =( s + 0.5 +
transforms to e

0.5t

3
3
j )( s + 0.5
j)
2
2

3
3
0.5t
cos
t , e sin
t
2
2

(oscillation)
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18

From Table 3.1, line 17

e

- bt

sin t

2
s + s +1

Chapter 4

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( s + b) 2 + 2
2

3
(s+ 0.5) +

19

Two IMPORTANT properties (L.T.)

Chapter 4

A. Multiplicative Rule

B. Additive Rule

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20

Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)

Chapter 4

Distance L for plug flow,

Delay time: = L
V

V = fluid velocity

Tank:

T (s)
K1
G1 =
=
U ( s ) 1s + 1

Sensor:

Ts(s) K 2 e -s
G2=
=
T(s) 1+ 2 s

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21

Chapter 4

Overall Transfer Function

Tank:

T (s)
K1
G1 =
=
U ( s ) 1s + 1

Sensor:

Ts(s) K 2 e -s
G2=
=
T(s) 1+ 2 s

K2 1

2 is very small can be neglected

Overall transfer function:
Ts Ts T
K1 K 2 e s
= = G2 G1 =
1+ 1s
U T U
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22

Chapter 4

Example 2: Consider the system shown below.

The system consists of two liquid surge tanks in

series so that the outflow from the first tank is the
inflow to the second tank.
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23

For tank 1,

A1

dh1
= qi q1
dt

Chapter 4

1
q1 =
h1
R1

(4 - 48)

(4 - 49)

Substituting (4-49) into (4-48) eliminates q1:

A1

dh1
1
= qi h1
dt
R1

(4 - 50)

Putting (4-49) and (4-50) into deviation variable form gives

dh1
1
= qi h1
A1
dt
R1
q1 =
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1
h1
R1

(4 - 51)
(4 -52)
24

Chapter 4

The transfer function relating H 1 ( s) to Qi(s) is found

by transforming (4-51) and rearranging to obtain
H1( s )
R1
K1
=
=
Qi( s ) A1 R1s + 1 1s + 1

(4-53)

Similarly, the transfer function relating Q1 ( s) to

H 1 ( s ) is obtained by transforming (4-52).
Q1( s ) 1
1
=
=
H1( s ) R1 K1
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(4-54)

25

The same procedure leads to the corresponding

transfer functions for Tank 2,

Chapter 4

H 2 ( s )
R2
K2
=
=
Q1( s ) A2 R2 s + 1 2 s + 1

Q2 ( s )
1
1
=
=
H 2 ( s ) R2 K 2

(4-55)

(4.56)

The desired transfer function relating the outflow from

Tank 2 to the inflow to Tank 1 can be derived by
forming the product of (4-53) through (4-56).

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26

Chapter 4

Q2 ( s ) Q2 ( s ) H 2 ( s ) Q1 ( s ) H 1 ( s )
=
Qi( s ) H 2 ( s ) Q1 ( s ) H 1 ( s ) Qi( s )

(4-57)

or

Q2 ( s )
1 K 2 1 K1
=
Qi( s ) K 2 2 s + 1 K 1 1 s + 1

(4-58)

which can be simplified to give

Q2 ( s )
1
=
Qi( s ) ( 1 s + 1)( 2 s + 1)
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(4-59)
27

Chapter 4

Linearization of Nonlinear Models

Required to derive transfer function.

Good approximation near a given operating point.
Gain, time constants may change with operating point.
Use 1st order Taylor series.
dy
= f ( y, u )
dt

f
f ( y, u ) f ( y, u ) +
y

f
( y y) +
u
y ,u

(4-60)

(u u ) (4-61)
y ,u

Subtract steady-state equation from dynamic equation

dy f
f
y +
u
=
dt y s
u s
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(4-62)
28

Example 3:
q0: control variable,
qi: disturbance variable

Chapter 4

dh
= qi q0 ...(1)
A
dt
Use L.T.

(in deviation variables)

AsH=
( s ) qi ( s ) q0 ( s )
Suppose q0 is constant: q0 = 0

AsH(s) = qi(s)
H(s) 1
...(2)
=
qi(s) As
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Pure integrator (ramp) for step

change in qi
Example of non-self regulating
system
29

Nonlinear element

More realistically, if q0 is manipulated by a flow

control valve,
q0 = Cv h ...(3)

nonlinear element
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30

Chapter 4

Figure 2.5

q=

1
h
RV

RV: line resistance

dh
1
= qi
A
h ...(4)
dt
RV

if q = CV
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linear ODE : eq. (4-74)

...(5)
31

Substitute linearized expression of

(5) into (1):

q = Cv h

dq
q +
(h h )
dh h

1 1
(h h )
= C v h + C v

2 h
1
= C v h + h
R

Chapter 4

Linearised version of (5) is

dh
1
= qi C v h h
A
dt
R

(6)

The steady-state version of (3) is:

0= qi Cv h

(7)

dh dh
=
Subtract (7) from (6) and let qi = qi qi , noting that
dt
dt
gives the linearized model:
dh
1

A = qi h
dt
R
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(8)
32

Chapter 4
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33

Conclusions

Definition of transfer functions

Development of transfer functions
Properties of transfer functions
1st order process
2nd order process
Integrating process (Non-self regulating)
Examples

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34