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Topics
I.
II.
III.
IV.
V.
VI.

Definition of the transfer function

Development of Transfer Functions
Poles and zeros of the transfer function
Linearization of Nonlinear Models
Dynamic behavior of a system with MatLab
State-Space and Transfer Function Matrix Models

I. Definition of the Transfer Function (TF)

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.

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

a0 y (n) a1y (n1) an1y' an y b0 x m b1 x m1 bm1 x' bm x

where y is the output and x is the input. The TF of this system is the ratio of the Laplace-transformed
output to the Laplace-transformed input when all initial conditions are zero, or

Transfer Function (TF) Gs

L output
L input zero initial conditions

Y s b 0s m b1s m 1 b m 1s b m

X s
a 0s n a 1s n 1 a n 1s a n

The above equation can be represented by the following graphical representation:

s
X
Input

b 0s m b1s m 1 b m 1s b m
a 0s n a 1s n 1 a n 1s a n

s
Y
Output

Transfer Function
Comments on the Transfer Function (TF)
The applicability of the concept of the Transfer Function (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
II. Development of Transfer Functions

Properties of Transfer Function Models

1. Steady-State Gain
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:
y y1
K 2
u 2 u1
For a linear system, K is a constant. But for a nonlinear system, K will depend on the operating
condition u , y .
Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:
K lim Gs
s0

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)
2. Order of a TF Model

Consider a general nth-order, linear ODE:

an

d ny
d n1 y
dy
d mu
d m1u
du

a
y

b
b1
b0u
n1
1
0
m
m1
n
n1
m
m1
dt
dt
dt
dt
dt
dt

Take Laplace transform, assuming the initial conditions are all zero. Rearranging gives the TF:
m

1
Y s
Gs
i n0
Us
a si

i 0

b si
i

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

Physical Realizability
For any physical system, n m. Otherwise, the system response to a step input will be an
impulse. This cant happen.