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3 Transfer Functions
3 Transfer Functions
Transfer Functions:
It is defined as the ratio of the Laplace transform of output (response) to the
Laplace transform of input (excitation) assuming all the initial conditions to
be zero.
r(t)
C(t)
R(S)
g (t)
C(S)
G (S)
L.T. of output
L.T. of Input
G(S) =
C(S)
R(S)
C(S)
R(S)
Cx
Kx
C
..
.. .
mx + cx + kx = F
Taking laplace transform of each term of this equation (assuming Zero initial
condition), we can write,
F(s) = ms2 X(s) + cs X(s) + kX(s)
Now, taking the ratio of X(s) to F(S) we can write the transfer function of the
system
=
X (S)
F (S)
G(S)
1
ms2+CS+K
Here the highest power of the complex variable S, in the denominator of the
transfer function determines the order of the system. Thus the k-m-c
system under consideration is a second order system.
Similarly we can write for k-m system
i.e., c = 0
X (S)
F (S)
1
ms2+K
X (S)
F (S)
1
CS+K
R(S)
G (S)
(Input)
Fig (i)
(Output)
Here, the signal into the black represents the input R(S) and signal out of the
black represents the output C(S), while the block itself stands for transfer
function G(S).
The flow of information (Signal) is unidirectional from input to the output,
with the out put being equal to the input multiplied by the transfer function
of the block.
A complex system comprising of several elements is represented by the
interconnection of the blocks for Individual elements.
The blocks are connected by lines with arrows indicating the unidirectional,
flow of information from the out put of one block to the input of the other. In
addition to this summing or differencing of signals is indicated by the
symbols shown in the fig (ii) (a) (b) & (c), while take off point of a signal is
represented by fig(iii)
i.e., in summing point two or more signals can be added or subtracted.
C
A
A+B
+
B
A-B
A +
B
Fig (ii) (c)
AB+C
Fig (iii)
The points at which the output signal of any block can be applied to two or
more points is known as Take off Point.
(This output is analogous to voltage but not to current)
Forward Path:
The direction of flow of signal from Input to output is Known as Forward
Path.
Input
Output
R (S)
R(S) G1(S)
G1(S)
C(S)
R(S)
C (S)
G3(S)
G2(S)
Output
Input
Feedback Path:
The direction of flow of signal from output to Input is Known as Feedback
Path.
C(s)
R(s)
G (S)
Feed Forward
H (S)
Feed back
Output
Input
C(S)
R(S)
?
Regulating Apparatus such as
=Fr A.,
e = (x-y)/2
tm = [Km/(1+p) e
Fc = tm/R
y = 2 Fc/K
Fr
x =Fr A.,
A
e
X-Y
X+
1/2
tm
(c) The change in torque provided by motor tm= (Km/(1+ p))e
Km/(1+p)
Fc
tm
1/R
y
Fc
2/K
Fr
x-y
1/2
Km
(1+p)
tm
1/R
Fc
2/K
Overall Transfer Function
Fc
Fr
R(s) +
C(s)
E(s)
G (S)
+
B(S)
H (S)
R (s) Laplace Transform of Reference Input
(t)
c(t)
e(t)
b(t)
= (c(s)/E(s))
R (S) +
E(S)
G (S)
B(S)
In the above figure, we can write
E (S) = R (S) B (S) &
B (S) = C (S) . H (S)
H(s)
C (S)
G(S)
1+G(S) H(S)
R (S) +
E(S)
G (S)
B(S)
H(s)
C (S)
R (S)
C (S)
G (S)
1 G (S) H (S)
A+C
+
A+
-
+
B
2)
A B+C
A -B
+
-
A-B
+
A+
A-B+C
G2
G1
A G1
G2
A G1G2
A
G1
5)
A G1G2
A
G1
4)
A B+C
B
3)
Rearranging Summing
Points
A+
A B+C
Transformation
G2
A G1G2
Interchanging the
Blocks
A G1G2
G1G2
Combining the
Blocks in Cascade
A(G1 +G2)
A
G1
A
A G2
G1
A G1+G2
G1+G2
Combining the
Blocks in Parallel
OR Eliminating a
Forward Loop
6)
A G1
+
A
G1
A-B/ G1
A +
A G1 - B
A G1 - B
G1
B / G1
A G1
7)
A G1 B G1
9)
G1
A G1
G1
A G1
Moving a
Summing Point
Beyond a Block
B G1
G1
G1
A G1
A G1 B G1
A G1
8)
G1
G1
A G1
A G1
A
G1
G1
A
A
A -B
A
1/G1
A G1
B
10)
A -B
A -B
+
-
Moving a
Summing Point
ahead of a Block
1/ G1
A-B
10
A -B
B
11)
A -B
(A B)
(A B)
+
A -B
+
B
12)
A G1
A G1 + A G2
G1
+
A G2
A
G2
A G1 A G1 + A G2
G1
1/G2
G2
+
A G2
G1
13)
11
1/G2
-
G2
G1
Removing a Block
from a Forward Path
Removing a Block
from a Feed Back
Loop
G2
B = (A-B G2) G1
B = (AG1 - B G1G2)
B = (A / G2 B) G1 G2
B = (AG1 - B G1G2)
B
G1
G1
1+ G1H1
+
H1
B = (A-B H1) G1
B = (AG1 - B G1H1)
(No. 6, 7, 8, 9 & 14 are very important / to be used frequently)
Procedure for reduction of
Block Diagram
Step.
Step.
Step.
Step.
1
2
3
4
:
:
:
:
Eliminating a
Feedback Loop
R
G1
H1
R+
G1+G2
+
H1
G 1+ G 2
C
R
1-(G 1+ G 2) H 1
G1+G2
1-(G 1+ G 2) H 1
Ex - 02
G2
R
C
G1
H1
12
G2
R
G1
G1
H1
G 1+ G 2
H 1G 1
R
G1 + G2
H1G1
R
1 (G 1+G 2)
G1+G2
1-(G 1 + G 2) H 1 G 1
C
1
G1 + G2
13
G1+G2
1-G 1 H 1
14
G1+G2
1-G 1 H 1
Ex - 03
G2
C
G1
H1
G2
R
G1
1- G 1 H 1
C
=
R
G1
G1
1- G 1 H 1
G1
G2
1- G 1 H 1
Example 04:
(Jan/Feb-2003)
H1
C(S)
R(S)
S1
G1
S2
H2
G2
G3
G4
C(s)
R(s)
G1
S1
S2
H2
G4
G2
G4
1/G4
G2G3G4
R(s)
1- G 2 G 3 G 4 H 1
G1
S1
C(s)
H 2/ G 4
G 1G 2 G 3 G 4
R(s)
1-G 2 G 3 G 4 H 1
C(s)
G 1G 2 G 3 G 4
H2
1-G 2 G 3 G 4 H 1
G4
1 +
R(s)
C(s)
G 1G 2 G 3 G 4
1-G 2 G 3 G 4 H 1+ G 1 G 2 G 3 H 2
Example: 05
July/Aug-2003
H3
C(s)
R(s)
G1
G2
G3
H2
H1
15
16
1/G3
C(s)
R(s)
G3
G2
G1
H2
H1
H3/G3
R (s)
G3
G2
G1
C (s)
1+G3 H2
H1
R(s)
G2G3
1+G 3 H 2
G1
1+
G2G3
H3
1+ G 3 H 2
G3
C(s)
H1
Simplify further . . . . . .
Example: 06
R(s)
G3
G1
G2
G4
G5
H2
C(s)
G6
+
H1
R(s)
17
C(s)
G1 G2
1+ G1 G2 H1
G3 G4 + G5
G6
H2
G1 G2 (G3 G4 + G5)
R (S)
1+
R (S)
C (S)
1 + G1 G2 H1
G1 G2 (G3 G4 + G5)
1+ G1 G2 H1
G6
H2
G1 G2 (G3 G4 + G5)
1+G1 G2 H1+ G1 G2 (G3 G4 + G5) H2
C (S)
x G6
18
..
k
P j
m
= jn
(ii)
k
m
cy + Ky = 0
= cp + K = 0
k
P (root )
c
k
t
c
y = C1ept = c1 e
(iii)
..
My + Cy +ky = 0
= Mp2 + Cp + K = 0
= -a jd
c
c 4mk
2m
2m
2
1
2
19
Equation 2, and 3, are stable (but not eq.1), since transients will die as
t , because of exponentially decreasing terms.
Now consider
dy
yx
dt
Ch Eq. P2 - 2 P + 5 = 0
d2y
dy
2
5y 0
dt 2
dt
2 4 45
= 1 j2 2
and the transient solution is Yt= e 1t (C1 Sin 2t+ C2 cos 2t)
Here again an oscillatory response is indicated with an amplitude which
increases with time rather than decreases. The physical system would tend
to oscillate violently, perhaps destroying itself
These above examples illustrates the response of systems when the roots of
the characteristic equation are -ve or +ve real numbers or complex numbers
with +ve real parts, indicating STABLE and UNSTABLE systems
respectively.
Here, it should be noted that the system input has no effect on stability.
Therefore a linear system which is STABLE to one input is STABLE to all
inputs.
So far we have discussed the possibility of having a complex root with +ve or
-ve real parts.
20
But what about the possibility of having complex roots in which the real
part is a zero?
..
k
P j
m
= jn
Hence border line case between absolute stability and instability is called as
LIMITED STABILITY
Consider a 100th degree characteristic equation, suppose that 99 of its
roots are either -ve real number or pairs of complex numbers with -ve real
parts, but that remaining single root is a positive number is the system is
STABLE ?
No the system is UNSTABLE
Why?
Because there will be one exponential term in the transient solution which
will grow with time and so the transient solution will approach infinity as
time approaches infinity.
This above example will emphasise the basic concept of stability and states
that
For absolute stability, all roots must be negative real numbers or
complex numbers with -ve real parts.
Since solving a higher degree characteristic equation for its roots is time
consuming, the Routh / Hurwitz criterion can be used to determine whether
or not there are +ve roots with out actually solving it.
We Know,
Every system has to pass through a Transient Stage for a small period before
reaching Steady State.
So, Naturally the question comes in to playWill the system reach its
steady state after passing through transients
21
If all the roots of the characteristic equation have ve real parts the
system is STABLE.
22
(ii)
If any root of the characteristic equation has a +ve real part or if there
is a repeated root on the j-axis, the system is unstable
(iii)
If condition (i) is satisfied except for the presence of one or more non
repeated roots on the j-axis the system is limitedly STABLE
(ii)
(c.) (e.)
23
ii. A system has poles at -2, -4, 6, and zeros 2, 4, -3, is the system is stable?
The system is STABLE since the poles which are the roots of the system
characteristic equation have negative real parts. The fact that the system
has a zero with a +ve real part does not affect its stability.
iii. (S+2).(S+3)2.(S-4) = 0, is
the system is stable The characteristic
equation has the roots -2, -3, -3 and +4 and therefore represents an
UNSTABLE system since there is a +ve real root.
(a) An integrator (it may be written as dy/dt=x)
(b) A step input
(c) Abounded input that produces an unbounded output.
(d) x(t)= Cos wt
(e) x(t) = e-t sin4t
iv. (a) The characteristic equation of an integrator is S=0. Since the root
does not have a ve real part an integrator is NOT STABLE. Since
there is no root with a +ve real part an integrator is MARGINALLY
STABLE.
(b) Since a step function gives
F (S )
S
Rouths Creterion
E.J. Routh (1877) developed a method for determining whether or not an
equation has roots with + ve real parts with out actually solving for the
roots.
A necessary condition for the system to be STABLE is that the real parts of
the roots of the characteristic equation have -ve real parts. This insures that
the impulse response will decay exponentially with time.
If the system has some roots with real parts equal to zero, but none with +ve
real parts the system is said to be MARGINALLY STABLE.
It determines the poles of a characteristic equation with respect to the left
and the right half of the S-plane with out solving the equation.
The roots of this characteristic equation represent the closed loop poles. The
stability of the system depends on these poles. The necessary, but not
24
sufficient conditions for the system having no roots in the right half S-Plane
are listed below.
(i)
(ii)
(iii)
All the co-efficients of the polynomial must have the same sign.
All powers of S, must present in descending order.
The above conditions are not sufficient
If all the roots of the characteristic equation have ve real parts the
system is STABLE.
(ii)
If any root of the characteristic equation has a +ve real part or if there
is a repeated root on the j-axis, the system is unstable
(iii)
(iii) If condition (i) is satisfied except for the presence of one or more
non repeated roots on the j-axis the system is limitedly STABLE
In this instance the impulse response does not decay to zero although it is
bounded. Additionally certain inputs will produce outputs. Therefore
marginally stable systems are UNSTABLE
The Routh Stability criterion is a method for determining system stability
that can be applied to an nth order characteristic equation of the form
an sn + an-1 sn-1 + an-2 sn-2 + an-3 sn-3 +. a1 s1 + a0 = ZERO
The criterion is applied through the use of a Routh Array (Routh table)
Defined as follows:
Sn
Sn-1
an
an-2
an-4
an-1
an-3
an-5
Sn-2
b1
b2
b3
Sn-3
c1
c2
c3
Sn-4
d1
d2
S2
e1
a0
S1
f1
S0
a0
.
.
25
b1
a n 1 a n 2 a n a n 3
a n 1
b2
a n1a n 4 a n a n5
a n1
This Process is continued till we get a ZERO as the last co-efficient in the
third row.
In a similar way the co-efficient of 4th, 5th, 6th ..nth and (n+1)th rows are
evaluated.
c1
b1 a n 3 a n 1b2
b1
c2
b1 a n 5 a n 1b3
b1
. . . . . . .et.al
d1 =
d2 =
This table is continued horizontally and vertically until only zeros are
obtained. Any row can be multiplied by a constant before the next row is
computed with out disturbing the properties of the table.
This process is continued until s 0 is obtained, which is equal to a 0.
The ROUTH STABILITY CRITERION is stated as follows,
All the terms in the first column of Rouths Array should have same sign,
and there should not be any change of sign.
This is a necessary and sufficient condition for the system to be stable
On the other hand any change of sign in the first column of Rouths Array
indicates,
(i)
(i)
The Number of changes of sign gives the number of roots lying in the
right half of S-Plane
26
Examples:
Ex. 01:
S3+6S2+12S+8=0 using Rouths method
S3
12
S2
S1
S0
6 12 8 1 64
6
6
64
8 0
6
8
64
6
There are no sign changes in the first column of the array and so there are
no roots with +ve real parts and hence, the system in question is stable.
Ex. 02:
S5+3S4+7S3+20S2+6S+15=0
S5
S4
20
15
S3
1/3
S2
11
15
S1
6/11
S0
15
System is stable
Ex. 03:
S4+2S3+3S2+8S+2=0
S4
S3
S3
S2
-1
S1
S0
27
There are two sign changes (plus to minus & minus to plus) in the first
column, showing that there are two roots with +ve real parts. Therefore the
system is unstable.
Ex. 04:
3S4+10S3+5S2+5S+2=0
S4
S3
10
S3
(2)
(1)
S2
7/2
S1
-1/7
S0
Here two roots are +ve (2 changes of sign) and hence the system is unstable.
Ex. 05:
S4
S3
2.5
S1
---
---
S4
(S4)
(1)
(2)
S3
(4)
0
28
Special cases:
S4
S3
2.5
S1
---
---
Here it indicates that first term in horizontal 3rd row of Routh's array is zero
while rest of the row has atleast one non zero term
To remove this difficulty, the following methods can be used,
METHOD 1
(i) Replace zero by a small +ve number and complete the Rouths array
(ii) Examine the signs of the first column of Rouths array by letting
S4
S3
2.5
S2
8 5
S1
8 5
2 .5
8 5
S0
Now, lt
.1 0
1
8 5
=
8 1t
5
8
It
8 5
2 .5
8 5
It
= It
12.5
2 .5
5
8 52.5 2
8 5
29
30
S4
S3
2.5
S2
S1
2.5
S0
There are two changes of sign in the first column, and hence the system is
UNSTABLE (i.e. having two poles in the right half of S-plane)
METHOD 2
(i) Modify the original characteristic equations by replacing S by 1/Z
(ii) Apply the Rouths test on the modified equation in terms of Z
(iii) The number of Z-roots with +ve real parts are the same as the number of
S-roots with +ve real parts
(iv) Use same Routh criterion to determine status of the system with given
polynomial for the same above
For the problem discussed above, (i.e, example 05) let us try this method 2
Example
S5+2S4+4S3+8S2+3S+1=Zero
1
2
4
8
3
1 0
5
4
3
2
Z
Z
Z
Z
Z
OR
Z 5 3Z 4 8 Z 3 4 Z 2 2 Z 1 0
31
Z4
Z3
6.67
1.67
Z2
3.25
Z1
-0.382
Z0
There are two changes of sign in the first column of the Rouths array which
tells us that there are two Z-roots in the right half Z - plane. Therefore the
number of S-roots in the right half S - plane is also two
Hence the system is UNSTABLE
Note: This method works in most but not all cases.
Difficulty 02:
Let me repeat the problem No.6
i.e., S5+2S4+2S3+4S2+4S+8=0
We know that Rouths array will be
S5
S4
S3
Here it indicates that all the elements in the 3rd row of the routh array is
zero
This condition indicates that there are symmetrically located roots in the Splane (pair of real roots with opposite signs and/or pair (pairs) of conjugate
roots on the imaginary axis and / or complex conjugate roots forming
quadrates in the S-plane)
32
(ii)
(iii)
S5
S5
S4
S4
S3
S3
S2
S2
S1
- 24
S1
-12
S0
S0
or
Here, there are two changes of sign and hence, the system is UNSTABLE
Solve: (Home Work)
(i) S6+S5-2S4-3S3-7S2-4S-4=0
(ii) S6+2S5+8S4+12S3+20S2+16S+16=0
33
Ex: . . . . . ?
The characterstic equation of a given system is S 4+6S3+11S2+6S+K=0.
What restrictions must be placed upon the parameter K, in order to insure
that the system is stable. The routh table for the system is
S4
11
S3
S2
10
S1
60 6k
10
S0
For the system to be stable, the following the following restrictions must be
placed upon the parameter K:
i.e., 60-6K >0, or K<10, and K>0
Thus K must be greater than zero and less than 10
K>0
K<10
i.e,
Determine the range of values of K so that the system having the following
characteristic equation will be stable.
S(S2+2S+3) (S+2) + K=0
(S3+2S2+3S) (S+2) + K=0
= S4+2S3+3S2+2S3+ 4S2+6S+K=0
on simplification,
We get
S4+4S3+7S2+6S+K=0
Rouths array becomes
S4
S3
S2
5.5
33 4k
5 .5
S0
The system will stable if no change of sign occurs in the first column.
K > 0 and
33 4k
5 .5
or K < 8.25
Example:
(i)
S2+KS+(2K-1) = 0
S2
(2K-1)
S1
S0
2K-1
2K-1 > 0, K> 0
2K > 1
K>
If K > system is stable
(ii) S4+6S3 + 11S2 + 6S = K = 0
S4
11
S3
S2
10
S1
60 6k
10
S0
K
For system to be stable
60 60 K > 0 or K < 10 and K > 0
Range of K, V
0 < K < 10
34
35
CRITERION
H = n =
W.K.T. Characteristic equation
=an sn + an-1 sn-1 + an-2 sn-2 +. a1 s1 + a0 =0
Then n, can be written as,
ao
an-1
H = n
a n-3 a1
an
a n-2
a n-1
a1
a0
if n, odd
if n, even
if n, odd
if n, even
o . o
o . o
a n-3 ----------- o
an
a n-2 ----------- o
----------------------------------o ----------------------------------an
The determinates are thus formed as below
1 = an-1
2 =
an-1
a0
an
an-2
For Ex:
If n=3, then Hurwitz determinant can be written as
WKT Characteristic Eq: a3S3+a2S2+a1S1+a0 = 0
H =
then
a2
a3
0
1 = a 2 ,
a0
a1
a2
0
0
a0
2 =
3 =
a2
a3
0
a0
a1
a2
a2
a0
a3
a1
36
0
0
a0
1 = a2 > 0
2 = a2 a1 a3 a0 > 0
3 = a1 a2 a0 a02 a3 > 0
Then the system is STABLE
Again for Ex: if n = 4, The Characteristic Equation:
= a4S4 + a3S3 + a2S2 + a1S1+a0 = 0
H =
a3
a4
0
0
a1
a2
a3
a4
0
a0
a1
a2
0
0
0
a0
for stability
1, 2, 3
(ii)
(iii)
EX: 01
s4 + 3 s3 + 6 s2 + 9 s+ 12 =0
12
12
H=
1
1 = K, 2 = K (2K-1)-0
(2K-1)
= 2K2 - K
i.e., K >
37
38
CHARACTERISTIC EQUATION
The denominator polynomial in terms of S of a transfer function is known
as characteristic polynomial.
If this polynomial is equated to Zero,
characteristic equation will be obtained.
The characteristic polynomial of the transfer function G(S) of the equation
C (S )
, is ansn + an + sn-1 + . . . + a0
R( S )
and characteristic equation is given by
G(S )