Chapter 2

TRANSFER FUNCTION
AND BLOCK DIAGRAM
Objectives
Students should be able to:
Review Laplace Transform.
Find transfer function for linear time invariant systems.
Find the time response of a system by applying inverse
Laplace Transform.
Find the open loop and closed loop transfer functions of
a feedback control system.
Reduce block diagram by using block diagram algebra.

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Introduction
Step in building up a control system:-
Obtaining system’s schematic (block diagram)
Develop mathematical models from schematics of
physical system

The methods used are:-

Transfer functions in frequency domain
State equations in the time domain

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Two approaches are available for the analysis and design
of feedback control systems:

Classical
Frequency
Time domain
domain
Advantage:- Advantage:-
Can rapidly provide stability and Can be used to represent nonlinear
transient response information. systems (backlash, saturation, and
dead zone), MIMO systems.
Disadvantage:-
Limited applicability… only can be Disadvantage:-
applied to linear, time-invariant Not as intuitive as the classical
systems. approach – engage in several
calculations.
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Laplace Transform Review
A system represented by DE is difficult to model as block diagram.
Use Laplace Transform to obtain linear approximation of physical
systems. Through LT, input, output and system can be represented
separately.
Relatively easy to solve algebraic equations for the more difficult
differential equations.
 The LT is defined as
Eq 1

where s = , a complex variable.

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Using Eq 1, it is possible to derive a table relating f(t) to F(s)
or specific cases as shown in Laplace Transform table.
In addition to the Laplace Transform table, we can use
Laplace Transform theorems, to assist in transforming
between f(t) to F(s) and F(s) to f(t) known as Inverse
Laplace Transform.
The inverse Laplace transform allows us to find f(t) for a
given F(s);

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 Process of Solving
Control System Problems

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Laplace_Table.pdf

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Example 1

Find the Laplace transform of f(t) = Ae-atu(t).

Answer :
 

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Example 2

Find the Laplace transform of f(t) = Atu(t).

Answer :
 

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Example 3

Find the inverse Laplace transform of

Answer :

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Example 4

Find the inverse Laplace transform of

Answer :

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Example 5

Find the Laplace transform of

Answer :
 

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Example 6

Find the Laplace transform of

Answer :
 

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Example 7

Find the Laplace transform of

Answer :
 

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Transfer Function Definition
The transfer function is the ratio of the Laplace transform
of the output to the Laplace transform of the input of a
system .
The transfer function, G(s) for a system represented in
figure below is

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A general nth order, linear, time-invariant differential
equation is

where:
c(t) is output, r(t) is input, a and b are constants

Taking Laplace transform of both side,

ansnC(s) + an-1sn-1C(s) +… + a0C(s) + initial condition =
bmsmR(s) + bm-1sm-1R(s) +… + b0R(s) + initial condition

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Assume all initial conditions are zero,
(ansn + an-1sn-1 +… + a0) C(s) = (bmsm + bm-1sm-1 +… + b0) R(s)

Therefore, the transfer function is

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Transfer function separates output, input and system.
It can be represented as a block diagram as shown
below.
In general, a physical system that can be represented
by a linear, time-invariant (LTI) differential equation
can be modeled as a transfer function.

G(s)

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Example 8

Find the transfer function represented by

Solution:
Taking LT both sides and assuming zero initial condition:

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Example 9

Use the results from Example 8 to find the response,

c(t) to an input r(t)=u(t), a unit step. Assume zero
initial condition.

where r(t) = u(t),

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Solution:

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Solution:

#
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Example 10

Find the transfer function, G(s) corresponding to

differential equation

Answer:

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Example 11

Find the differential equation corresponding to the

transfer function

Answer:

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Additional example

Find the transfer function, G(s) corresponding to

differential equation

Answer: ?

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Transfer Function For Feedback Control
System
The general feedback form (simplified model) is shown
in figure below:

Plant & Controller

R(s) + E(s) C(s)
± Error G(s)

B(s)
H(s)
Feedback
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 Definitions
Forward path transfer function, G(s) is the ratio of the Laplace
transform of the output (C(s)) of a system to the Laplace transform of the
input (R(s)).

Feedback path transfer function, H(s) is the ratio of the Laplace

transform of the output (B(s)) of a system to the Laplace transform of the
output (C(s)).
Open-loop transfer function, G(s)H(s) is the ratio of the Laplace
transform of the output (B(s)) of a system to the Laplace transform of the
input (E(s)).
For the unity feedback case (H(s) = 1), open-loop transfer function
(OLTF) is equal to forward path transfer function.
Closed-loop transfer function, T(s) is the ratio of the Laplace transform
of the output (C(s)) of a system to the Laplace transform of the input
(R(s)).
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Transfer Function For Feedback Control
System
Forward path transfer function, G(s)

Feedback path transfer function, H(s)

Open-loop transfer function, G(s)H(s)

Closed-loop transfer function, T(s)

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 Transfer Function For Feedback Control
System
The equivalent, or closed-loop transfer function (CLTF)
is shown as:

R(s) C(s)
G(s)

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 Block Diagram Algebra
When multiple subsystems are interconnected, a few more
schematic elements must be added to the block diagram.
The new elements are summing junctions and pickoff
points.

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 Block Diagram Algebra
There are three basic common forms, by which the
subsystem are connected together;
Cascade form (series form)
Parallel form
Feedback form

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Cascade (series) form
Transfer functions connected in series are combined by
multiplication.

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Parallel Form
Transfer functions connected in parallel are combined
by addition.

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Feedback Form

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 Block Diagram Algebra
Moving blocks to create familiar forms –
Block diagram for summing junctions

To the left past a summing junction

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 Block Diagram Algebra
Moving blocks to create familiar forms –
Block diagram for summing junctions

To the right past a summing junction

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 Block Diagram Algebra
Moving blocks to create familiar forms –
Block diagram for pickoff points

To the left past a pickoff point

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 Block Diagram Algebra
Moving blocks to create familiar forms –
Block diagram for pickoff points

To the right past a pickoff point

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Block Diagram Reduction
Procedure for reduction of block diagram:
1. Reduce the cascade blocks
2. Reduce the parallel blocks
3. Reduce the internal feedback loops
4. It is advisable to shift take-off points toward right and
summing points toward left.
5. Repeat step 1 to step 4 until the simple form is
obtained.
6. Find the transfer function of the overall system using
the formula C(s)/R(s).

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Block Diagram Reduction
Example 12
Reduce the block diagram below into a single
transfer function.

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Solution

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Example 13
Reduce the block diagram below into a single
transfer function.

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Solution
To the right pass a
summing junction

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Solution

Feedback

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Exercise

Find the equivalent transfer function, T(s) = C(s)/R(s), for

the system shown below. 𝑠 3+1
𝑇 ( 𝑠) = 4 2
2 𝑠 +𝑠 +2 𝑠

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