Transfer Function

Transfer Function
Matlab
Transfer function
u (t ) External force: input
y (t ) Displacement of the mass: output
my  by  ky  u (t )
my  by  ky  u (t )
ms Y ( s )  bsY ( s )  kY ( s )  U ( s )
2
Y ( s) 1
G (s)   2
U ( s ) ms  bs  k
2
Transfer function f (t )  [ A1e s1t   An  2e sn2t  2e at C1 cos(t  C1 )](u (t )
Y ( s) 0.5 1
G (s)   2 ; U ( s )  ; Step function
U ( s ) s  1.5s  2.5 s
0.5 1 A C1 C1 0.5
Y (s)      ; A   0.2
s  1.5s  2.5 s s s  (0.7500 + 1.3919j) s  ( 0.7500  1.3919j)
2
s  1.5s  2.5 s 0
2
0.5 1 0.5 1
C1      0.1000 + 0.0539j
s  (0.7500  1.3919j) s s ( 0.7500 + 1.3919j) 2 1.3919j ( 0.7500 + 1.3919j)
C1  0.1136; C1  2.6474
y(t)= 0.2 + 2e -0.75t ×0.1136cos(1.3919t + 2.6474)
clear; close all; clc
t=0:0.1:7;
y=10*(0.2+2.*exp(-0.75.*t).*0.1136.*cos(1.3919.*t+2.6474));
dy=diff(y)./diff(t);
plot(t,y); hold on
plot(t(2:end),dy);
my  by  ky  u (t )
Transfer function ms 2Y ( s )  bsY ( s )  kY ( s )  U ( s )
clear; close all; clc • m=2; b=3;k=5 Y ( s) 1
G (s)   2
U ( s ) ms  bs  k
sys = tf(0.5,[1 1.5 2.5]);
1 0.5
step(sys) G (s)  2  2
2 s  3s  5 s  1.5s  2.5
sys = tf(0.5,[1 1.5 2.5]);
hold on
for i=-3:2:6
step(sys*i)
end
(*) step(sys) plots the response of a dynamic

system model to a step input of unit amplitude
Impulse Functions
• In some applications, it is necessary to deal with phenomena of an
impulsive nature.
• For example, an electrical circuit or mechanical system subject to a
sudden voltage or force g(t) of large magnitude that acts over a short
time interval about t0. The differential equation will then have the form
ay  by  cy  g (t ),
where
big, t0    t  t0  
g (t )  
0, otherwise
and   0 is small. 5
my  by  ky  u (t )
Impulse Response Plot • m=2; b=3;k=5

ms 2Y ( s )  bsY ( s )  kY ( s )  U ( s )
Y ( s) 1
clear; close all; clc G (s)   2
U ( s ) ms  bs  k
sys = tf(0.5,[1 1.5 2.5]); 1 0.5
G (s)  2  2
impulse(sys) 2 s  3s  5 s  1.5s  2.5

sys = tf(0.5,[1 1.5 2.5]);
hold on
for i=-5:2:5
impulse(sys*i)
end
Lsim: Plot simulated time response of dynamic system to arbitrary inputs;
simulated response data Y (s) 1
G (s)   2
U ( s ) ms  bs  k
Response to Periodic Signal 1 0.5
G (s)  2  2
2 s  3s  5 s  1.5s  2.5

sys = tf(0.5,[1 1.5 2.5]);
tau=10;
[u,t] = gensig("square",tau);
lsim(sys,u,t)
grid on
gensig returns the vector t of time steps and the vector u

containing the corresponding values of the input signal.
Y (s) 1
G (s)   2
U ( s ) ms  bs  k
Response to Periodic Signal G (s)  2

1
 2
0.5
2 s  3s  5 s  1.5s  2.5

sys = tf(0.5,[1 1.5 2.5]);
[u,t] = gensig("sine",1,4);
lsim(sys,u,t)
my  by  ky  u (t )
Matrix Method for Linear DEquations ms 2Y ( s )  bsY ( s )  kY ( s )  U ( s )
Y ( s) 1
State Space model External force: input G (s)   2
u (t ) U ( s ) ms  bs  k
y (t ) Displacement of the mass: output
my  by  ky  u (t )
 x1 (t )  y

 x2 (t )  y
 x1 (t )  x2

 b k 1
 x2 (t )   m x2  m x1  m u (t )
 0 1  0
 x1 (t )     x1 (t )   
 x (t )    k b    1 u (t )
 2     x2 (t )   
 m m m 9
Matrix Method for Linear DEquations
• m=2; b=3;k=5
 0 1  0
 x1 (t )     x1 (t )   
 x (t )    k b    1 u (t )
 2     x2 (t )   
 m m m
 0 1  0
 x1 (t )     x1 (t )   
 x (t )    5 3    1 u (t )
 2     x2 (t )   
 2 2 2
x  Ax  Bu;  x1 (t ) 
 y (t )  1 0    0u (t )
 y  Cx + Du  x2 (t ) 
x  Ax  Bu;
Matrix Method for Linear DEquations 
 y  Cx + Du
clear; close all; clc  0 1  0
 x1 (t )     x1 (t )   
 x (t )    5  1 u (t )
A = [0, 1; -5/2, -3/2]; B = [0; 1/2]; 3  
C = [1, 0]; D = 0;  2     x2 (t )   
sys = ss(A,B,C,D);  2 2 2
step(sys);  x1 (t ) 
y (t )  1 0    0u (t )
 x2 (t ) 
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
sys = ss(A,B,C,D);
hold on
for i=-5:2:5
step(sys*i)
(*) step(sys) plots the response of a dynamic end
system model to a step input of unit amplitude
x  Ax  Bu;
Impulse response
 y  Cx + Du
 0 1  0
clear; close all; clc  x1 (t )     x1 (t )   
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];  x (t )    5 3    1 u (t )
C = [1, 0]; D = 0;  2     x2 (t )   
sys = ss(A,B,C,D);  2 2 2
Figure; hold on
for i=-5:2:5
impulse(sys*i) Response to the Velocity Initial Conditions
end
A = [0, 1; -5/2, -3/2]; B = [0;
1/2];
C = [1, 0]; D = 0;
sys = ss(A,B,C,D);
hold on
initial(sys, [0, 0]);
for i=-5:2:5
initial(sys, [0, i]);
end
x  Ax  Bu;
 y  Cx + Du
 0 1  0
 x1 (t )     x1 (t )   
Response to the Displacement Initial Conditions  x (t )    5 3    1 u (t )
 2     x2 (t )   
 2 2 2
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
sys = ss(A,B,C,D);
hold on
initial(sys, [0, 0]);
for i=-5:2:5
initial(sys, [i, 0]);
end
x  Ax  Bu;
 y  Cx + Du
 0 1  0
clear; close all; clc  x1 (t )     x1 (t )   
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
 x (t )    5 3    1 u (t )
C = [1, 0]; D = 0;  2     x2 (t )   
sys = ss(A,B,C,D);  2 2 2
[u,t] = gensig("sine",1,4);
lsim(sys,u,t) Response to Periodic Signal

A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
sys = ss(A,B,C,D);
tau=10;
[u,t] = gensig("square",tau);
lsim(sys,u,t)
grid on
Linear Analysis Using the Linear System Analyzer
To perform linear analysis: clear; close all; clc

• Open the Linear System Analyzer sys_tf = tf(0.5,[1 1.5 2.5]);
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
showing one or more models
C = [1, 0]; D = 0;
using the following syntax:
sys_ss = ss(A,B,C,D);
linearSystemAnalyzer(sys1, linearSystemAnalyzer(sys_tf,
sys2,...,sysN) sys_ss);
• By default, this syntax opens a
step response plot of your
models, as shown in the
following figure.
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
linearSystemAnalyzer(sys_ss);
Add more plots to the Linear System Analyzer.
Select Edit > Plot Configurations.
In the Plot Configurations dialog box, select the number of plots
to open.
To view a different type of response on a plot, right-click and
select a plot type.
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
sys_ss = ss(A,B,C,D); Response to Periodic Signal
select a plot type.
Response to Periodic Signal
A = [0, 1; -5/2, -3/2]; B = [0; 1/2];
C = [1, 0]; D = 0;
Response to the
Linear Analysis Using the Linear System Analyzer Displacement Initial
Conditions
select a plot type.
A = [0, 1; -5/2, -3/2]; B =
[0; 1/2];
C = [1, 0]; D = 0;
Analyze system performance. For example, you can analyze the peak response in the
Bode plot and settling time in the step response plot.
• Right-click to select performance characteristics.
• Click on the dot that appears to view the characteristic value.
System Modeling
Physical setup
The physical parameters for our example are:
(J) Moment of inertia of the rotor 0.01 kg.m^2

(b) Motor viscous friction constant 0.1 N.m.s
(Ke) Electromotive force constant 0.01 V/rad/sec
(Kt) Motor torque constant 0.01 N.m/Amp
(R) Electric resistance 1 Ohm
(L) Electric inductance 0.5 H
System equations
In SI units, the motor torque and back emf constants are equal, that is, K_t = K_e
di
T  K t i; e  K e ; J   b  Ki; L  Ri  K  V
dt
1. Transfer Function
 Js 2 ( s )  bs( s )  KI ( s ) J b V ( s )  Ks( s )
 ; ( s  ) s  ( s ) 
 LsI ( s )  RI ( s )  V ( s )  Ks( s ) K K Ls  R
J b
[( Ls  R )( s  )  K ]s( s )  V ( s )
K K
[( Ls  R )( Js  b)  K 2 ]s( s )  KV ( s )
( s ) K
G (s)  
V ( s ) ( Ls  R )( Js  b)  K 2
MATLAB representation
• Transfer Function ( s ) K
G (s)  
V ( s ) ( Ls  R )( Js  b)  K 2
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.5;
s = tf('s');
P_motor = K/((J*s+b)*(L*s+R)+K^2)
linearSystemAnalyzer (P_motor);
Linear Analysis Using the Linear
System Analyzer

J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L1 = 0.5;
L2=0;
s = tf('s');
P_motor1 = K/((J*s+b)*(L1*s+R)+K^2);
P_motor2 = K/((J*s+b)*(L2*s+R)+K^2);
linearSystemAnalyzer (P_motor1,P_motor2);
Linear Analysis Using the Linear
System Analyzer
J = 0.01;
b = 0.1;
K = 0.01;
R = 1;
L = 0.15;
s = tf('s');
P_motor = K/((J*s+b)*(L*s+R)+K^2);
linearSystemAnalyzer (P_motor);
Response to other types of inputs
By right-clicking on the displayed plots and choosing Plot Types > Linear Simulation
• Set the End time (sec) to "5" and • Change the Frequency (Hz) to "0.1" and leave
the Interval (sec) to "0.1". the Amplitude and Duration (secs) as their
default values.
• Click the Design signal button and choose • Click the Insert button at the bottom of the Signal
a Signal type of Sine wave from within the Designer window and the Simulate button at the
window that appears. bottom of the Linear Simulation Tool window.

Transfer Function - Matlab

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Transfer Function - Matlab

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(*) step(sys) plots the response of a dynamic

Impulse Response Plot • m=2; b=3;k=5

clear; close all; clc

clear; close all; clc

gensig returns the vector t of time steps and the vector u

Response to Periodic Signal G (s)  2

clear; close all; clc

y (t ) Displacement of the mass: output

clear; close all; clc

To perform linear analysis: clear; close all; clc

The physical parameters for our example are:

(J) Moment of inertia of the rotor 0.01 kg.m^2

clear; close all; clc

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