Transfer Functions
Laplace transforms technique is a very convenient method for solving
differential equations.
It converts linear differential functions, in time domain into algebraic
function in frequency domain (the complex domain)
The time variable is replaced by the s variable in the frequency
domain, thus the term the s-domain.
After solving the algebraic problems (which are easier to deal with) one
would then take the inverse Laplace transformation, to get the answer
back to the time domain.
LINEAR DIFFERENTIAL Integration SOLUTION IN TIME
FUNCTION DOMAIN
Laplace
Transformation
Inverse Laplace
Transformation
Algebraic
ALGEBRAIC LAPLACE Manipulation ALGEBRAIC LAPLACE
FUNCTION FUNCTION SOLUTION
Figure 1. Solving Linear differential equation using Laplace
Transformation.
Definition:
where s is an arbitrary (of random choice)
complex variable
1) Some functions are simple to solve directly from the integral
equation.
2) Some functions need integration by parts
3) Properties have been generated based on the solution of some
functions
Important basic Laplace functions used as test inputs in system
analysis.
1) Unit impulse/impulse function
2) Unit step/step function
3) Unit ramp
4) Parabolic function (at least acceleration function)
5) Exponential function
6) Sinusoidal functions
Examples:
Case 1: Simple solution
Case 2: Integration by parts solution
Requirements for existence of :
1) The variable must be defined for all values of .
2) s is sufficiently large to ensure that the integral converges.
NOTE: There is a unique value of in spite of there being a large
range of values of s which are suitable.
Laplace Transform Theorems
(8)
(9)
The importance of the last theorem is that it can be used to determine
the transfer function of a system – which relates the input/output
relationship of a system.
It is commonly used for the analysis and design of control system.
Definition:
The transfer function based on the linear, invariant differential
equation always assumes zero initial conditions.
Consider a system defined by:
where
,
– the output of the system,
t – the input of the system.
The transfer function of such a system is obtainable by taking the
Laplace of the above equation under the assumption of zero initial
conditions
NOTE: The transfer function only may be defined for the linear, time-
invariant (stationary) with constant parameters system
Important characteristics of a Transfer Function
1) The transfer function of a system is a mathematical model, in
that it is an operational method of expressing the differential
equation that relates the output variable to the input variable.
2) The transfer function is a property of a system itself,
independent of the magnitude and nature of the input.
3) The transfer function includes the units necessary to relate the
input to the output, however it does not provide any information
about the physical structure of the system;
(transfer functions of many different systems can be identical).
4) If the transfer function of a system is known, the output, or the
response of the system to an input can be studied for various
forms of the input with the view towards understanding the
nature of the system.
5) If the transfer function of the system is unknown it can be
established experimentally by introducing known inputs and
studying the output of the system.
Examples
1) Find the Laplace of a linear differential equation.
Find the Laplace of the system
2) Find the differential equation from the transfer function.
3) Transfer function from an electrical system.
4) Transfer function from a mechanical system.
Characteristic Equation
The transfer function can be written in the form:
where and are polynomials determined from the
linear differential equation.
The behaviour of the system is determined by the roots of the
(denominator polynomial equation, .
This equation is called the characteristic equation.
is also known as the characteristic polynomial.
The roots of the characteristic equation are called the poles.
The roots of the numerator polynomial, are known as zeros.
Forms of Transfer Functions
1) General Form
2) Parallel Form (poles and residues form)
where – coefficient called residues
– roots of the characteristic equation
called poles
– polynomial if the highest power of s in
the numerator is greater than that in the
denominator.
# This type of problem is solved using partial fractions.
3) Factored Form
where – the zeros of the transfer function,
n – the poles of the transfer function,
Matlab functions to implement these operations
