3.3 Transfer Function t (response) of the system i form of outpu 3.3.1 Definition | ed as the ratio of Laplace trans) ee See ere Mathematically itis defined as ato a og ci to the Laplace transform of input (exct a initial conditions are zero. oP an z symbolically system can be represented as shown ‘Symbolically syst e ; function of system can be shown as in the Fig 3.2(b). «) System tt) wf f— Cs) Fig. 3.2(a) ce 3.2(b) Transfer function of this system is ay where C(s) is Laplace of e(t) and R(s) is Laplace of r(t), If T(s) is the transfer fusiction of the system then, Tie) = Leblace transform of output Co) “Taplace transform of input = RS mm> Example 3.1: For a system shown in the Volt) 8 output and v; Fig. 3.3, cat (1 is input to the system, Moulte is transfer function where Y eqUaLIONS by appiy ying Riad sj 8 KVL as, CJ it at and 4 os matEngineering 3-3 Transfer Function and Impulse Response enrol systor En where Vo(s) is Laplace of voit) and Vs(s) is Laplace of v(t) an inal conditions are to be neglected. 0 taking Laplace of above two equations and wee, Vie) = RUS) + 16) @ assuming initial conditions zero we can vais) = 1) ~@) a’ Is) = sCVo (s) Substituting in equation (3), Vil) = ccvse[R+ Vi(s) = SCR Vo(s) +Vo(s) = Vols) [1+ sCR] We can represent above system as in the Fig. 3.4, which is called transfer function model of the system. vi (s) Fig. 3.4 immp> Example 3.2 : Find out the T-F. of the given network. Fig. 3.5 Solution : Applying we get the hoa as, e(t) = iR+L> Sadi idt 0) Input = ¢ (t) es )Transfer Function and impulse Respor aS ee neglecting, initial conditions df(t) neglecting initial conditions transform of “gr =sF(s) and Laplace form, Take Laplace trans! ; 44 = Us)[R+ sL+3¢] 1 ed wT 1) [Rett]! 1 Now eo(t) = al idt EQ(s) ZW) Is) = sCEo(s) Substituting value of I(s) in equation (2), sCEo(s) _ 1 EG)” [ 1) [Resk + se} -> 7 frosts t| So we can represent t system as in the Fig, 3.6. Els) pig cee 0 +sRC +1 Fig. 3.6 Transfer function model1 System 3.3.4 Procedure to Determine the Transfer Function of a Coes y’ The procedure used in Ex. 3.1 and Ex. 3.2 can be generalised as below : 1) Write down the time domain equations for the system by introducing variables in the system. differenteine 2) Take the Laplace transform of the system equations assuming. all initial ¢ Condition, to be zero. 3) Identify system input and output variables 4) Eliminating introduced variables, get the resultant equation in terms fin output variables OF IMP ut ang 5) Take the ratio of Laplace transform of output variable to La input vanable to get the transfer function model of the system sm Example 3.3: Find out the T.F. of the given network Pace transform op c [ = ff 3.7 Solution: Applying KVL we can write, dit aw = 40, t J i@mat + ior while colt) = (QR 2 where e.() = input and eo(t) = output Taking Laplace of equations (1) and (2), neglecting the initial conditions. I Ey) = stig) + £2 + RIB) E.(s) = Us)R ¢ Ei(s) = tf ser Jere] from (3) E.G) Substituting (5) =~‘ from (4) in the above equation we get, , , Eo) = — re { sh+ + + R|control System Engineering 3-7 Transfer Function and Impulse Response 2 : E,(s) = Hise - [ASE ofS) _ BRC Ga Ei(s) 5? LC+sRC+1 This is the required transfer function. Key Point: The network in Ex. 3.2 and Ex. 3.3 is same but as focus of interest ie. output is changed, the transfer function is changed. For a fixed output, transfer function is constant = independent of any type of input applied to the system. If the output variable is changed, tl T.F. also changes accordingly. ~ tt5.2.1 Derivation of T.F. of Simple Closed Loop System Referring to the Fig. 5.5, we can write following equations as, E(s) = R(s) $ Bs) Bis) = C(s)H@) Cs) = E(s)G(s) B(s) = C(s)H(6) and substituting in equation (1) E(s) = R(s) ¥ C(s)H(s) Cs) B®) = a Cs) Gey = RS) FC@)HG) Cs) = R(S)G(s) ¥ C(s)G(S)H(s) +. C(s) [1£G)H(S)] = Ris) G(s) Cs) GG) RG) ~ 1EG@)HG). Use + sign for negative feedback and use - sign for positive feedback. This can be represented as shown in the Fig. 5.6. R(s) os) Closed Loop TF. y Fig. 5.6 Key Point: This can be used as a standard result to eliminate such si imple loops complicated system reduction procedure.5.3 Rules for Block Diagram Reduction Any complicated system if brought into its simple form as shown in the Fig. 5.5, it ‘SF. can be calculated by using the result derived eariler. To bring it into simple form it is neceswary to reduce the block diagram but using proper logic such that output of tha rsterm and the value of any feedback signal should not get disturbed. This can be hieved by using following mathematical rules while block diagram reduction.ay k Diagram Raprose Controt System Enginooring 5-6 Block Diagram Rep "atin Rule 1: Associative law ; Consider two summing points 4s shown in the Big 57 a 2 RyRy Ry eR, R Ry Fig. 5.7 Now change the position of two summing points. Output re So associative law holds good for + Summing points which are directly R, Fey connected to each other (i.e intermediate block between Points or there is no tak between the summing point emains same. Ree, nw, there is no two summing cof i Off point in Ry R, ts). Fig. 5.8 Consider summing points with a block in between ay shown in the ig, 59. = RIG, ER, Now interchange summing points. Now the output does \ remain same. I " Key Point: So associative law R, is applicable to summing points which are directly connected to each other. two not Fig. 5.19 Rule 2 : For blocks i series : ‘The transfer functions of the blocks which each other. AFC connected in series, * Multiplied with_-_ eV control System Engineering 5-7 Block Diagram Representation Consider system as shown in the Fig. 5.11 RISIG, 1816.6; anes 514 4) = RO) [Gi G2 Gs] 0 instead of three different blocks, only one block with TF. [G: G2 Go] can be #42 as shown in the Fig. 5.12. Ris) as) 6,6,6;° /}——* Fig. 512 Output in both cases is same. Key Point: If thre is a takeoff or a summing point in between th be said to be in series. ler the combination of the blocks as shown in the Fig. 5:13. 1 blocks, the blocks canst Conside ‘Takeoff point Fig. 5.13 Key Point: In this combination GyGo ave in seri and cam be combined as GiG2 but G3 is now notin series with G1Gz as there is takeff point in between To call Gs to be in series with GiGo it is necessary to shift the takeoff point before GiGp or after G3. The rules for such shifting are discussed later Rule 3: For blocks in parallel : The transfer functions of the blocks which are connected in parallel get added raically (considering the sign). Consider system as shown in the Fig, 5.14.a ——__Pr {9} Avold such shiting ‘ae far a5 possible Fig. sar Wibou ay staan such ahiing i sty considera configuraion a shown in he Fig Sn, bed Fig. 5.14 |e combination 1 not the paral fof Gr and Hs = RG) GR) | contination cw) mas ue | fay Point: For a paral combination = Rey [G2 +6s-Gr ow replace three Blocks with only one block with TF Ga +Gy-Gs (ig. 515) 4s) = RG) [G24 Gs-Gi] Hy recon of signals through the Hooks se pra must Be same tp this ease direction of signal through | ne TS oppose Such teers | Gta is called minor feedback ecton rile for ths ae ouput ese: So lok which aren paral gat ed algebraically wep in a a Tiel te teks in pall carey, The coniting cites are dicuned hae iq | 8 she ae lef pont a6 showin the Fg 516 along with blocks Ci, Gy whe ate ae sppest ein prl I—® | Se yl 4] | Fig. 5.19 a aloe ule 4: Shifting «summing point behind the back L/W = | Tone pont Fig. 5.16 Key Point fut unless and until his tae pont is sifted before the block, blocks cant said be i paral. swt Shing of taeolt point is dlscussed ex. Secondly shifting, a takeoff point afer Summing, pont needs seme adjustments to keep ouput same. In above case the tke Point cannot be sors after summing point vathout any alteration. This type of shili® | Aisenssed 9s cial rules tater a8 such shilting, makes the block diaggamn complicated ad shld be avoided as fa a8 possible © block diagram comp CG) = RGey Now we have to shift surnming point behind the block Key Point: ‘The output must remain same, shi shifting «summer pean RenFig 524 pat eid tek forth lcs spe Hock before wich summing Pn iy ta og TE rep lo a series with all he signal # ‘that summing point. es ig conaer he entation som 7 & iter ne Fi 52. Fg. 82 ‘ow w shit sing pt ater the Bock Key sig pit aot ny ange ing output sme, consider the sified 16 +96 a ray ‘rp with of te Black begun which so ® Cons ee Fig 54 psig wing et ee amoning pl to be shied, see awe dz teat begaa i PO fe nga wot pot behind the Bok y combination shown in te Fg 525, covert Fig. 525 ay Po: To Sit tke it bind eck le of laine met me ‘poh sing of takeot point without any cnge doe eo it wus: He ea Neiek signal which i changed fs the expr cy wh mS iraie, Bt without any change ti just Ras how nthe F525 Fig, 528 tut ust be out RG So Hck with TC ma be incu et ‘pal takingoff after the block, Thus while shifting 2 takeoff point behind the Sat ofthe block behind which tkeotf point st Be ‘sing om that takeoff point ying TE me Bod, ad» Blok a esas "ied in sri ith j |i Controi System Engineering 5-12 Block Diagram Representas, ion R Fig. 5.27 Rule 7 : Shifting a takeoff point beyond the block : Consider the combination shown in the Fig. 5.28. C=RG U.yer Fig. 5.28 Fig. 5.29 To shift takeoff point beyond the block, value of ‘y’ must remain same. To keep value of ’y’ constant it must be multiplied by ‘1/G’ While shifting a takeoff point beyond the block, add a block in series with all the signals which are takingoff from that point, having T-F. as reciprocal of the T-F. of the block beyond which takeoff point is to be shifted Rule 8 : Removing minor feedback loop : This includes the removal of internal simple forms of the loops by using standard result derived earlier in section 5.2. Key Point: After eliminating such a minor loop if summing point carries only one signtl input and one signal output, it should be removed from the block diagram to avoid further confusion. Ea) cs) TEG(5) HS) R, os) rm Fig. 5.30= RG " 2 value | the control System Engineering 8-13 Block Diagram Representation Rule 9: For multiple input system use Superposition th heorem Ry Ry System —+c Rn : Fig. 5.34 Consider only one input at a time treating all other as zero. Consider Ri, Ry = Rg = sneueeeRy = 0 and find output C: Then consider R2, Ri = Ra R, =0 and find output C2. At the end when all inputs are covered, take algebraic sum of all the outputs. Total output C= Cy Ha tee Cn Same logic can be extended to find the outputs if system is multiple input multiple output type. Separate ratio of each output with each input is to be calculated, assuming all other inputs and outputs zero. Then such components of outputs can be added to get resultant outputs of the system. In very few cases, it is not possible to reduce the block diagram to its simple form by use ‘of above discussed nine rules. In such case there is a requirement to shift a summing point before or after a takeoff point to solve the problem. These rules are discussed below but reader should avoid to use these rules unless and until it is the requirement of the problem. Use of these rules in simple problems may complicate the block diagram.esentating systems particularly when set of equations ‘This representation which is obtained from the ws in the system is called signal flow graph the system which consist of various variables of nes of the system plays a base role in signal flow graph. Thus we can define signal flow graph a5 ~ way of repr is available. how signal flo tions, which § cent on, Ast es eesti the system, the var the variables of « set of linear algebraic equations representing ‘The graphical tation of : the system i called signal fl ST=Ph representation. Jements constituting the signal flow graph. the important el set of equations for the system, these are Let us see which are jements of the ‘As variables are important el represented first in signal flow graph BY ‘small circles called nodes of signal flow graph. aeode represents a separate variable of the system: “ihe dependent and independent variables are represented bY {6 nodes. The scatutehigs between various modes are represented by joining the nodes 2 Pat the ations The lines joining the nodes are called branches, The branch is associated with Gauatenefer function and an arrow. The transfer function represents ‘mathematical speration on one variable to produce the other variable. The arrow indicates the flow of signal and signal can travel only along an arrow. eg. Consider a simple equation, vem Where V = Voltage —_—-—_—_ I = Current Fig. 6.1 t R = Resistance which is parameter of the system. ais nothing but simple Oh’ law. Now while representing this equation by signal low graph. first the variables voltage V and current ” are represented by nodes and they are connected by the branch as shown in the Fig. 6.1. «@-1)conmet Symem Engineering 6-2 The pene: dat clogs V depends on vee of een hat be cay teers tow gh p renstance R So signal I gets multiplied by R to gencraze cy TEane ve brome branch tunter tenon or aa Freleng Vand V.The dsc of tw fen Tov. fae an me Re 2 ee oe ssinos wren The ranch eases fncton & also call? branch gain geo tocritanee gel Bow gop trelcogy ranch Signal Flow Grann Representa, 6.2 Properties of Signal Flow Graph 1) The signal Sow graph is applicable ony to Hear time invariant systems 2) The signal in the system ow along the branches an associat withthe branches. ales the arowteade 2) The sel gets multped by the branch gain or branch tanamittance whe, travels along SE SSE Seal ow eaph show in he 4 : sei, ‘The signal fom x; gets multiplied by 4 when it Fig. 63 tenes along the branch joining x1 to. xs. So we salve of, It shows dependence of x2 on x, [The vale of variable represented (OES Sin orsend by any so a agSba ha WAT 8, Consider the variable xz, At Gat node, an say value of x is 4 times the Fig. 64 Fig. 6.5 | or input node. eg, xy is source node contr System Engineering 6-3 si | ——__—_ Si Flow raph Representation { Now there are three branches leasing 4: joing to vy and xg vanables depend on \. NF Me As and 6. that means So we can write x4 =x2, xy =2% j | te. fr al branches leaving fot, th ela of xe i { of such branches do not aifect the vaiue of x; ree pet Key Point: Tie value of i this ale i as entering ‘curiae represents y rade depends only on the ag ane alt ranches acing rom tht nde | 6 fos gen am gal tow pentose ee drawn by writing system equations in different manor, ae 6.3 Terminology used in Signal Flow Graph Consider a signal Now graph showin in the Fg 66 ie ') Source Node : The node having only outgoing branches is known as source ii) Sink Node : The node having only incoming branches is known 2 sink or output node. eg. x5 16 sink node ii) Chain Node : A node having incoming and outgoing branches i known 3 chain node: eg. x1 x2 x3 and |v) Forward Path : A path from the input lo output node is defined as forward path First forward path Second forward path, “Third forward path kom ETN Feurth forward path, 1) Feedback Loop : A path which originates from a pasticular node and terminating at the same node, travelling through allesst one other node, without tracing any node tw! +i called feedback loop. For example, xzX)~Xi~%: Self Loop : A feebock lop consisting of only one node scaled sf oop. te. tn Sere waa loop. A self loop can not appear while defiing a forward path or aon pwn ene Berd Pah scant sci fot ah in Fig. 66 eB sen mAE EK Tate Xtnbn Vt. 7 watt Lenennmanlieenbin sn el \ aac ees ee Sp eee oe TSS ese SSS a Fig 67 I che agal Sew graph «and ane input and output variables but as per definition sot pur mn otipur saves Such independent nodes can he generated by adding branches gant ar atown 2 he Fig 67 Note : Sock ceston of dummy nodes not necessary. Without this also, signal fw apt can be anne © get de overall arate function, ay Pint: anon of branches of gun 1b posele only before starting mode and afer the ee ae ecm th he made ac ranches of gain 7 cannot beaded. 1%) Now twoching loops : f there is 20 node common in between the two oF more loops, sock loops are sud to be non touching loops. ‘The Fig. 62 (a) chow a combination of non touching loops of two and three loops. KB. agg (4) Two non touching loops (b) Three non touching loops: Fig. 68 ‘Similarly if there is no node common in between » forward path and 2 feedback loop, 2 loop is said to be non touching to that forward path. ‘The Fig. 69 (a) end (6) shows such sloop which fs non touching to a forward path, Fenwaré pat) Tne secede toting 2 Toop is cated Generally uch oop Fig. 6.10 » there is ene loop with gain Ly there are two lop with gains * 4-2-8 and other self loop with Ly 64 Methods to Obtain Signal Flow Graph In the Fig. 6.10 (a), In the Fig. 610 6), Gn, - Gath, 64.1 From the System Equations | [ems | 1D Raye ack rile by a erate ae 2) te the poet hat Deri pet by «mae dc sm of al Be gas ng onde ee, 9 Coico the erie nthe eats we ob pected he foc ‘i oming he nr ia fo gr Stow th inp and tt srs ply complete sal fe rh "ample: Conier the system quntons my, wea 344 © Weaeem 0) Va V+ Ve o Vem 6¥s “ {Let output be Vy and input be V where Vi, Vs .V5 ate the system variables, Fig. 6214) Equation (1) shows that Vi depend on land Vs. So there are two branches entering at rode Ve. from Vane Vs. Bat Branch fom Vs fo V; has direction fom output w input hence = bbe shown as a edback path ab ih the Fig tN). Silriy al eqlators are tobe Simulaed and poied to got complete signal Dow ph‘Control System Engineering 6-6 Signal Flow Graph Representation Signal from output sie towards input Le from, Ve to V;, Vs to Vs and 0 on are © Be tndiened as fodback pathe 1 equation (2) there is component of Ve ‘self contnbuting 0 generate the varable V This results in a self oop in a signal ow staph The complete signal flow graph 1s shown in the Fig 61105) Fig. 6.11 (0) 8.42 From the Gis 9 Block Diagram [Nave a the summing pin Ink of points the black diagram, Represent eich suring ana tie of pont by a erate nde in signal flow gregh 3) Connect the ty the branches insted of. 2m ofthe coresponing bral, eck, ndcating Mek transfor function asthe ‘Stow the pat an output rade separately if repre to complee signal flow graph, | \ at \ r [Naming summing and takeoff points shown inthe Fig. 613, Key Point: Make sue thet sf summing nd tke of pots ae near each other in «given Bock diagram, they are 10 be represent by separate nodes th the coesponding signal fw graph | 6 Mason’s Gain Formula Control System Engineering ee | It is seen cartier that in by rales, one after the other cn Roe fancton. We have to de woe Spe form mein mip rm of te NU sgl tego! 2 consumt BPI approach, once $1 formula leds the crete seem tae se and hence refered as Mason fnetion CB mien 5 TS forma ay Sr forma The feces canbe sng Number of forward pis * Gainers 4 = Sym demo be aed g fp oan on mae cents of en hg apy “12 pin xine pn ptr conto ef eon es 4 = Vl of avy lng try ang sett prods whch ech tbr forward path. : "Natnber of forward paths K = 3, ‘The gains Le product of branch | denoted a8 TT and Ty Jo Bamber of loops inci spe ae sy 3 an tha gi ae yy, and Ls, (Out ofthese thee, Ly La and Uy Ly ate he combinations of bo nn touching ap, ‘Thete is no combination of thee non touching loops ‘sins involved in defining vasous forward paths ae 8 = 1 =[all individual and sl op ind +B gain x gain product of combinations of ‘oo nom touching ops] Ae Tall Lee Letts Leeks balControl System Engineering 6-8 Signal Flow Graph Representation Now for Ax ie. Ar, A> and A3 consider each forward path separately. For T,, say all loops L;, L2 and L3 are touching to T) hence all loop gains are to be eliminated from A to get Aj. A, = 1 For Tz, say Lz is non touching and Ly, L3 are touching. So Li, Ls and associative products ie. L; Lz and L; L3 are to be eliminated to get A>, Lz will exist. A2 = 1-L2 For Ts, say L; and Lz both are non touching and Lz is touching. So L3 and associated product L; L3 must be eliminated L, Lz and product L; Lz as both are non touching to T; will exist in A3 A3 = 1-Li-Lothi lz Hence T-F. can be obtained by substituting these values in TE = TA + Ta See A3ale ree Consod_pots. P= abcdely = gCaCGG, es Pz abeha 2 GG2646s Tore ay Ya = Sq = Gi6rGaCu Ge @ $$ (gs oN So Lys ded = - Galle a loz ege + - Gel loz dbedelaa 2 - Gis GsGuGs Gets - Le bcdghl? = -GeGs6u Gotta _ = le = bch CoG Le_z_abclga = -GiG2GrGel: _ Lq_= dacdeta =-GiGeGsGuG5 H2 _ Lp = efge = —GuGeth To ot uchin— age J Libs 2 G2Gu Wee 6s Halt Lele GiG2GaGeks Gels — ji) bse = © GainGeH - Be alo tee neath — lp $$ y N= \-0 =) ts = |—(CGutly) = ]+ Gata aoe _| Now, bo = os “con_= Aidit bAz+ bs Ass 1 Mason Gains Pula SS Rs) enue WNT| = —__ G1 662 GuGsGe4 Cia 9 Guha) + Gy BrGatueg | LAGU + GB 4 Grea Galnte Gola t Gy Gy : | GiGe GCIs + GrOROBGuGalYs + Geveliet cole Gat 2 Gah GaGu Ga GIsH4 + Gi GG GeaGe, Po= dca fa= | az bPech = Gee 2 sts GiG4 Ge ¢-Gy Gale GeGe + GiG1 WGsG2. \+Gsh\+Golo-GaGeHite + G2SsHiW2+00 none Je uirtatigebesie) arly 8, Plason = Gdc!s fomla | _Teoo fans being dips La = : GGG ae V= (ta sheets) + (Ly), bee ee fe \ Gu) = 1+ Gul