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W04-1-Transfer FN N Block Diagram Part I
W04-1-Transfer FN N Block Diagram Part I
W04-1-Transfer FN N Block Diagram Part I
2
4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
3
4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
4
4. Transfer function and block diagram
ODE → TF
𝒀 𝒔
❖ Get a TF 𝐇 𝐬 = from the ODEs
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
❖ Find the final value of y(t) as 𝒕 → ∞ with respect to the step input 𝐮 𝒕 .
5
4. Transfer function and block diagram
TF – poles & zeros
❖ A rational* transfer function In mathematics, a rational
◼ Described as a ratio of two polynomials in s: function is
any function which can be
𝑁 𝑠 𝑏1 𝑠 𝑚 +𝑏2 𝑠 𝑚−1 +⋯+𝑏𝑚+1
◼ 𝐻 𝑠 = = defined by a rational
𝐷 𝑠 𝑠 𝑛 +𝑎1 𝑠 𝑛−1 +⋯+𝑎𝑛
fraction, i.e. an algebraic
◼ N: Numerator fraction such that both the
◼ D: Denominator numerator and the
denominator
◼ or are polynomials.
𝑁 𝑠 ς𝑚 (𝑠−𝑧 )
◼ 𝐻 𝑠 = = K ς𝑛𝑖=1(𝑠−𝑝𝑖 )
𝐷 𝑠 𝑖=1 𝑖 (From Wikipedia)
◼ 𝐾: transfer function gain
◼ 𝑧𝑖 : zeros
◼ 𝑝𝑖 : poles
6
4. Transfer function and block diagram
TF – poles & zeros
❖ Zeros
◼ 𝐻 𝑠 ȁs=zi = 0
◼ Block frequencies coinciding with its zero locations.
◼ Have a significant effect on the transient properties of the system.
◼ (Section 3.5 in the textbook)
❖ Poles
◼ 𝐻 𝑠 ȁs=𝑝i = ∞
◼ Determines the stability of the system (recall the eigenvalues.)
◼ Have a significant effect on the steady-state properties of the system.
◼ (Section 3.6 in the textbook)
7
4. Transfer function and block diagram
TF – poles & zeros
❖ Revisit the prev. example. y ''(t ) + 3 y '(t ) + 2 y(t ) = u(t ) + 2u '(t ),
where y ( 0 ) = 0, y ' ( 0 ) = 0, u(0) = 0
1.5
1
Amplitude
0.5
-0.5
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
9
4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
p=
-1
1
k=
1
10
4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex1. y ''(t ) − y (t ) = u (t ), y ( 0 ) = 0, y ' (0) = 0
Step Response
80
70
60
50
Amplitude
40
30
20
10
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time (seconds)
❖ Q. Does the result coincide with the final value of y(t) in the prev. slide?
11
4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0
z=
◼ Commands:
Empty matrix: 0-by-1
◼ *tf: produce a transfer function
k=
2
12
4. Transfer function and block diagram
Step response using MATLAB
𝒀 𝒔
❖ Use a TF from the ODEs in the prev. slide.
𝑼 𝒔
◼ Ex2. y ''(t ) + 3 y '(t ) + 2 y (t ) = 2u (t ), y ( 0 ) = 0, y ' (0 ) = 0
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 1 2 3 4 5 6 7 8 9 10
Time (seconds)
❖ Q. Does the result coincide with the final value of y(t) in the prev. slide?
13
4. Transfer function and block diagram
Impulse response using MATLAB
❖ Ex 1 (left) & Ex 2 (right)
◼ impulse(sys,t); % plot impulse response
0.45
70
0.4
60
0.35
50
0.3
Amplitude
Amplitude
40 0.25
0.2
30
0.15
20
0.1
10
0.05
0 0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 0 1 2 3 4 5 6 7 8 9 10
Time (seconds) Time (seconds)
14