Heaven’s light is our guide

Rajshahi University of Engineering & Technology

EEE 2297

Signals and Linear Systems

Prepared By:
Prangon Das
Lecturer, Department of Mechatronics Engineering,
Rajshahi University of Engineering & Technology.

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 Outlines
• Transfer Function.
• Block Diagram.
• Different Block Diagram forms.
• Block Diagrams for systems.
• System Stability.
• Effect of Poles in system Stability.
• System Stability Problems.

References:
Control system Engineering: Norman S. Nise – Chapter 05, 06

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 Transfer Function
a transfer function , this stating the relationship between the Laplace transform of the output and the Laplace transform of the
input. Suppose the input to a linear system has a Laplace transform of Y(s) and the Laplace transform of the output is X(s). The
transfer function G(s) of the system
is then defined as

Thus, the output transform is X(s) = G(s) Y(s) i.e., the product of the
input transform and the transfer function.

Block Diagram Representation:

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 Block Diagrams
Block diagrams consist of
 Blocks – these represent subsystems – typically modeled by, and labeled with, a transfer function
 Signals – inputs and outputs of blocks – signal direction indicated by arrows – could be voltage, velocity, force, etc.
 Summing junctions – points where signals are algebraically summed – subtraction indicated by a negative sign near where
the signal joins the summing junction

Summing Junctions Signals

Blocks
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 Block Diagrams (Cont.)

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 Different Block Diagrams Forms

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 Different Block Diagrams Forms

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 Block Diagrams for Systems

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 System Stability
Stability is the most important system specification. If a system is unstable, transient
response and steady-state errors are moot points. An unstable system cannot be
designed for a specific transient response or steady-state error requirement.

Definitions of stability for linear, time-invariant systems:

Using the natural response:

1. A system is stable if the natural response approaches zero as time approaches infinity.
2. A system is unstable if the natural response approaches infinity as time approaches infinity.
3. A system is marginally stable if the natural response neither decays nor grows but remains
constant or oscillates.

Using the total response (BIBO):

1. A system is stable if every bounded input yields a bounded output.
2. A system is unstable if any bounded input yields an unbounded output.

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 Effects of Poles in System Stability
Location of poles in s – plane affect the stability of system. Entire s – plane is divided in 3 parts:
1. Left Half Plane (LHP)
2. Right Half Plane (RHP)
3. Axis (Real and Imaginary)
1
Poles are roots of denominator of Transfer Function & Zeros are roots of numerator.
(𝑠𝑠−1) Poles = -3, -5 -5 0
If, TF, G(s) = Then,
𝑠𝑠+3 (𝑠𝑠+5) Zero = 1 Poles – X
Stability Conditions: Zeros –

1. Stable: A system is stable if & if only real part of poles are – ve i.e., all poles lies in LHP.
2. Unstable: A system is unstable if real part of at least one pole is + ve i.e., at least one pole lies in RHP.
3. Marginally Stable: A system is marginally stable if, at least one pole is purely imaginary (no real Pole - Zero Map
part) and Pole = 0

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 System Stability Problems
Ex: Plot the poles and zeros in pole zero map and state the stability of the system
5𝑠𝑠
G(s) =
𝑠𝑠+1 (𝑠𝑠 2 +4𝑠𝑠+8)
LHP (-2 + 2j), RHP
Poles: N = 0 2j
2
𝑠𝑠 + 1 (𝑠𝑠 + 4𝑠𝑠 + 8) = 0
𝑠𝑠 + 1 = 0 , (𝑠𝑠 2 +4𝑠𝑠 + 8) = 0 -
-2 -1 0
s = -1, s = (-2 + 2j), (-2 – 2j)
-2j
Zeros: D = 0
(-2 - 2j),
5𝑠𝑠 = 0
𝑠𝑠 = 0 -
Pole - Zero Map

Stability Decision: From the pole zero map we see all the poles of the TF of the system lies on LHP of the s – plane.
So, the system is stable.
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 System Stability Problems
Ex: Find the value of K such that the system is stable

For stability, Poles needs to be in LHS (-ve) i.e., (5 + k) needs to be +ve

5+k˃0

k ˃ -5
1
𝐾𝐾 𝑠𝑠+5
T(s) = 1
1+𝐾𝐾 𝑠𝑠+5

𝐾𝐾
T(s) =
𝑠𝑠+(5+𝑘𝑘)

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 To Be Continued…..

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