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Chapter 4
Transfer Function
Approach to Modeling
Dynamic Systems
Transfer Function
Approach to
Modeling Dynamic
Systems
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A. Aziz Bazoune
CHAPTER CONTENTS
4-1
Introduction
4-2
Block Diagrams
4-3
4-4
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CHAPTER OBJECTIVES
When you have finished this chapter, you should be able to:
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 F unction ( TF
L output
) G s
L input
A. Aziz Bazoune
Y s
X s
b0s m
a0s n
b1s m 1
a1s n 1
bm 1s bm
an 1s an
CH 04 Transfer Function Approach Slide 7
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.
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
Solution
is the output.
f t
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
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F s
and
G (s )
Input
bx
F s L f t
Output
f t
x
1
ms 2 bs k
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 )
3 related quantities
ms bs k
F s
Input
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1
2
ms bs k
Transfer Function G(s)
X s
Output
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
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.
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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.
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.)
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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)
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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)
Note that
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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.
C s E s G s
Figure 4-5 Block Diagram of a closed loop system
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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
is the
x
k1
k3
k2
Figure 4-54
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Solution
Define displacements
and
mx k1x b x y k2 x y mx
(E-1)
0 b y x k2 y x k 3 z y u
mx bx k1 k2 x by k2y
(E-3)
by k2y bx k2x u
(E-4)
x
k1
(E-2)
k3
k2
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Eliminating
mx bx k1 k2 x bx k2x u
mx k1x u
or
X s
U s
(E-5)
1
ms 2 k1
(E-6)
x
k1
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Massless cart
that both the cart and the spring-mass-dashpot system are at rest
for < 0.
The displacement
output..
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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
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=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)
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20s 100
10s 2 20 s 100
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
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and
Fictitious
mass
are
Assuming
displacement
Mechanical System
Solution
m x
Fictitious
mass
k1 x k2 y x p t m x
m x k1 k2 x k2y p t
(E-1)
m2
b2 y k2 y x 0
b2 y k2 y k2 x 0
(E-2)
ms 2 k k X s k Y s P (s )
1
2
2
k2X s b2 s k2 Y s 0
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(E-3)
(E-4)
and
Y s
gives
k2
b s k
2
2
X s
(E-5)
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
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
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.
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
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>> step(10*sys1,'r:',10*sys2,'b')
>> grid
>> gtext('x(t)');gtext('y(t)')
A. Aziz Bazoune
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
10 s 100
10
X 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
>> 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
1.3690
s
1.2898
3.9743
0.2977
1.6667
s 7.4204
s
s
1.2898
8.89912
X s
and
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
X s
-1
, or
G s U s
-1
of the system is
Unless, for some reason, an analytical solution is needed, we should use a computer to get a
numerical solution.
A. Aziz Bazoune
Example
2s 25
s 2 4s 25
Figure 4-9
MATLAB Program
>> num=[2
>> den=[1
25];
4
25];
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Transfer function:
2 s + 25
-------------s^2 + 4 s + 25
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)')
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k1*k2]
Example
Consider Example 4-3. The TF of the system is
Y s
U s
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bs
m s 2 b s
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