Chapter 1: Transfer

functions
OBJECTIVES
 Introducing the concept of linear control system
 Discussing classification of control systems
 Derive a mathematical model of physical systems using
mathematical differential equations.
 Understand and analyze the methods of representation of
systems and their transfer function models.
 Perform block diagram and signal flow representation
and reduction
 Using and practicing MATLAB basic and for control
system
CONTENT
Introduction
Classification of control systems
 linear, nonlinear, time varying, time in-variant,
continuous, discrete, SISO and MIMO systems –
definitions.
Mathematical Modeling of systems
 Electrical systems, mechanical (translation and
rotational), mechanical-electrical analogies–
Transferfunction
Block diagram reduction technique and signal flow
graphs.
INTRODUCTION
 A control system is an interconnection of components
forming a system configuration that will provide a desired
system response.
 The basis for analysis of a system is the foundation provided
by linear system theory, which assumes a cause-effect
relationship for the components of a system.
 Therefore a component or process to be controlled can be
represented by a block.

 The I/O relationship represents the cause-and-effect of the

process, which in turn represents a processing of the input
signal to provide an output signal variable.
INTRODUCTION (CONT.)
 An open-loop control system uses a controller and an
actuator to obtain the desired response.
 An open-loop system is a system without feedback.

 In contrast, a closed-loop control system utilizes an additional

measure of the actual output to compare with the desired output
response. The measure of the output is called the feedback
signal.
 A simple closed-loop feedback control system is shown below
INTRODUCTION (CONT.)
 A feedback control system often uses a function of a prescribed
relationship between the output and reference input to control the
process.
 The difference (error) between the output of the process and the
reference input is amplified and used to control the process so that the
difference is continually reduced.
 In general the error is adjusted by the controller.
 The output of the controller causes the actuator to modulate the
process in order to reduce the error.
 For instance, if a ship is heading incorrectly to the right, the
rudder is actuated to direct the ship to the left.
 Its a negative feedback control system, because the output is
subtracted from the input and the difference is used as the input signal to
the controller.
 The feedback concept has been the foundation for control
system analysis and design.
INTRODUCTION (CONT.)
 Closed-loop control has many advantages over open-loop
control including the ability to reject external disturbances
and improve measurement noise attenuation.
 External disturbances and measurement noise are inevitable

in real-world applications and must be addressed in practical

control system designs.
INTRODUCTION (CONT.)
 Examples of control system-Room temp control system
 The output signal from a temperature sensing device such as a

thermocouple or a resistance thermometer is compared with

the desired temperature.
 Any difference causes the controller to send a control signal to

the gas solenoid valve producing linear movement of the valve stem
thus adjusting the gas flow to the burner
 The desired temperature is usually obtained from manual

adjustment of a potentiometer
INTRODUCTION (CONT.)
 Examples of control system. Room temp control system
 The block diagram of room temp control system
 Steady condition will exist when the actual and the desired
temperatures are the same
 The system can operate in two modes: on-off control and proportional
CLASSIFICATION OF CONTROL SYSTEM
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CLASSIFICATION OF CONTROL SYSTEM
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CLASSIFICATION OF CONTROL SYSTEM
 Continuous-Time and Discrete-Time Systems:
 If the input and output signals x and p are continuous-time
signals, then the system is called a continuous-time system.
 If the input and output signals are discrete-time signals or
sequences, then the system is called a discrete-time system.
CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM

CLASSIFICATION OF CONTROL SYSTEM
 Single-input-single-output (SISO) control system and Multi-
input-multi-output (MIMO) control system: In practical
control problems there typically are a number of process
variables which must be controlled and a number which can be
manipulated
 SISO control system: It is a control system that has only
one input and one output.
 MIMO control system: It is a control system that has only
more than one input and more than one output.
 In-line blending system
CLASSIFICATION OF CONTROL SYSTEM
 Linear Time-Invariant Systems
If the system is linear and also time-invariant, then
it is called a linear rime-invariant (LTI) system.
There are two major reasons behind the use of the
LTI systems −
The mathematical analysis becomes easier.

Many physical processes though not absolutely

LTI systems can be approximated with the

properties of linearity and time-invariance.
CLASS ACTIVITY

MATHEMATICAL MODEL OF SYSTEMS
 Introduction
 To understand and control complex systems, one must obtain
quantitative mathematical models of these systems.
 It is necessary therefore to analyze the relationships between
the system variables and to obtain a mathematical model.
 Because the systems under consideration are dynamic in nature,
the descriptive equations are usually differential equations.
 Then using mathematical tools, such as the Laplace
transform, we obtain a solution describing the operation of the
system.
 We can have the ideal describing equations for lumped, linear,
and dynamic electrical, mechanical, fluid and thermal physical
elements.
MATHEMATICAL MODEL OF SYSTEMS
 Differential equations of Electrical systems
 The basic passive elements of electrical systems are
resistance, capacitance and inductance.
MATHEMATICAL MODEL OF SYSTEMS

MATHEMATICAL MODEL OF SYSTEMS

MATHEMATICAL MODEL OF SYSTEMS
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MATHEMATICAL MODEL OF SYSTEMS
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MATHEMATICAL MODEL OF SYSTEMS
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MATHEMATICAL MODEL OF SYSTEMS

MATHEMATICAL MODEL OF SYSTEMS
 Differential equations of mechanical systems
 For example, consider the simple spring-mass-damper
mechanical system shown
MATHEMATICAL MODEL OF SYSTEMS

LAPLACE TRANSFORM

LAPLACE TRANSFORM
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LAPLACE TRANSFORM
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LAPLACE TRANSFORM

LAPLACE TRANSFORM
 Common LT pairs
LAPLACE TRANSFORM
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 LAPLACE TRANSFORM

LAPLACE TRANSFORM

TRANSFER FUNCTION OF LINEAR SYSTEMS
 The transfer function of a linear system is defined as the ratio
of the Laplace transform of the output variable to the
Laplace transform of the input variable, with all initial
conditions assumed to be zero.
 Represents the relationship describing the dynamics of the
system under consideration.
 Note:
 Defined only for an LTI systems
 It is an I/O description of the behavior of a system, thus, the it does
not include any information concerning the internal structure of
the system and its behavior.
TF (CONT....)

TF (CONT....)
Obtain the transfer function


BLOCK DIAGRAM MODELS
 The dynamic systems that comprise automatic control
systems are represented mathematically by a set of
simultaneous differential equations.
 Laplace transformation reduces the problem to the
solution of a set of linear algebraic equations.
 Since control systems are concerned with the control of
specific variables, the controlled variables must relate to
the controlling variables.
 This relationship is typically represented by the

transfer function of the subsystem relating the input

and output variables.
 Therefore, one can correctly assume that the transfer
function is an important relation for control
engineering.
BLOCK DIAGRAM MODELS (CONT....)
 The importance of this cause-and-effect relationship is
evidenced by the facility to represent the relationship of
system variables by diagrammatic means.
 The block diagram representation of the system
relationships is prevalent in control system
en_x0002_gineering.
 Block diagrams consist of unidirectional, operational
blocks that represent the transfer function of the
variables of interest.
BLOCK DIAGRAM MODELS (CONT....)
 Systems can be complicated with a lot of blocks

 To represent a system with several variables under control, an

interconnection of blocks is utilized as shown below
 has two input variables and two output variables
BLOCK DIAGRAM REDUCTION

BLOCK DIAGRAM REDUCTION THEROMS
 There are occations when there is interaction b/n the control loops and, for the
purpose of analysis, it become necessary to rearrange the block diagram
configuration.
 This can be undertaken using block diagram transformation theroms
BLOCK DIAGRAM REDUCTION THEROMS...
 Rearranging summing poits and other techniques
BLOCK DIAGRAM REDUCTION EXAMPLES
 Example 1. Reduce the following block diagram

 Solution 1.

 Example 2. Reduce the following block diagram

 Solution 2.
SIGNAL FLOW MODELS
 Block diagrams are adequate for the representation of the
interrelationships of controlled and input variables.
 However, for a system with reasonably complex
interrelationships, the block diagram reduction
procedure is cumbersome and often quite difficult to
complete.
 An alternative method for determining the relationship
between system variables has been developed by Mason
and is based on a representation of the system by line
segments
 The advantage of the line path method, called the signal-
flow graph method, is the availability of a flow graph gain
formula, which provides the relation between system
variables without requiring any reduction procedure or
manipulation of the flow graph.
SIGNAL FLOW MODELS (CONT....)

SIGNAL FLOW MODELS (CONT....)
 Another example is shown below

 All branches leaving a node will pass the nodal signal to the output
node of each branch (unidirectionally).
 The summation of all signals entering a node is equal to the node

variable.
 A path is a branch or a continuous sequence of branches that can be
traversed from one signal (node) to another signal (node).