Control Systems (ES-353)

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 Lec#03-04
Transfer Function and Laplace Transform
CLO-1

3
 Reference Books

• Modern Control Systems, (latest Edition) By Richard C. Dorf

and Robert H. Bishop.
 Outline

• Transfer Function
• Block Diagrams
• Laplace Transform
• Properties of Laplace Transform
• Inverse Laplace Transform
 Transfer Function

It is a method gives system dynamics representation equivalent to

• Ordinary differential equations
• State equations

• Interchangeable: Can convert transfer function to differential

equations

6
 Transfer Function
• The transfer function G(S) of the plant is given as:

U(S) G(S) Y(S)

Figure-1 Block diagram of plant

OR it is the ratio of Laplace transform of the output to the

Laplace transform of the input. Considering all initial conditions
to zero.
Y(S )
G( S ) 
U (S )
7
 Transfer Function

• Transfer function helps us to check

The stability of the system
Time domain and frequency domain characteristics of the
system
Response of the system for any given input

8
 Block Diagrams

Another way to represent system dynamics pictorially

• Shows signal flow through system
• Transfer function G(s) inside block
• Output: X(s) = G(s) H(s)

9
Cascaded Blocks

• Output = input to next

10
 What are Laplace transforms?

F ( s)  L{ f (t )}   f (t )e  st dt
0
  j
1 st
f (t )  L1{F ( s)}   F ( s ) e ds
2j   j

• t is real, s is complex.
• Inverse requires complex analysis to solve
• Transform: f(t)  F(s), where t is integrated and s is
variable
• Conversely F(s)  f(t), t is variable and s is integrated
• Assumes f(t) = 0 for all t < 0
 How to use Laplace

• Find differential equations that describe system

• Obtain Laplace transform

• Perform algebra to solve for output or variable of interest

• Apply inverse transform to find solution

 Why use Laplace Transforms?

• Find solution to differential equation using algebra

• Relationship to Fourier Transform allows easy way to
characterize systems
• Useful with multiple processes in system
• It offers a practical way of solving the Linear Differential
Equations.
• It is especially useful for systems with one output and one
input.
 Evaluating F(s) = L{f(t)}
Some Revision
• Hard Way – do the integral
f (t )  1

1 1
let
F ( s )   e  st dt   (0  1) 
0
s s
f (t )  e  at
 
1
let F ( s )   e  at e  st dt   e ( s  a ) t dt 
0 0
sa
f (t )  sin t


let F ( s )   e  st sin(t )dt

0

• Integrate by parts
 Laplace Transforms & Transfer Functions
Laplace Transforms: method for solving differential equations,
converts differential equations in time (t) into algebraic equations in
complex variable s.
Transfer Functions: another way to represent system dynamics, via
the s representation gotten from Laplace transforms, or excitation
by .

15
 Properties of Laplace Transforms

• Linearity
• Scaling in time
• Time shift
• “frequency” or s-plane shift
• Multiplication by tn
• Integration
• Differentiation
 Properties: Linearity

L{c1 f1 (t )  c2 f 2 (t )}  c1 F1 ( s )  c2 F2 ( s )
Example : Proof :

L{sinh(t )}  L{c1 f1 (t )  c2 f 2 (t )} 
1 t 1 t 
y{ e  e }  [ c f (t ) c f (t )]e  st
dt 
2 2  11 22
0
1 1
L{e }  L{e t } 
t  
2 2 c1  f1 (t )e  st dt  c2  f 2 (t )e  st dt 
1 1 1 0 0
(  )
2 s 1 s 1 c1F1 ( s )  c2 F2 ( s )
1 ( s  1)  ( s  1) 1
( ) 
2 s2 1 s2 1
 Properties: Scaling in Time
1 s
L{ f (at )}  F ( )
a a
Example :
Proof :
L{ f (at )} 
L{sin(t )} 

1 1  f (at )e  st dt 
(  1) 
 ( s )2 0
 u 1
let u  at , t  , dt  du
1 2 a a
( 2 2
)
 s  
s
a
 1 ( )u
 f (u )e a du 
s2   2 a0
1 s
F( )
a a
 Properties: Time Shift
 st0
L{ f (t  t0 )u (t  t0 )}  e F (s)
L{ f (t  t0 )u (t  t 0 )} 
Example : L{e  a (t 10 )u (t  10)}  Proof :

10 s
e  f (t  t0 )u (t  t 0 )e  st dt 
sa 0


 f (t  t0 )e  st dt 
t0

let u  t  t0 , t  u  t 0
 t 0

 f (u )e  s ( u t0 ) du 
0

e  st0  f (u )e  su du e  st0 F ( s )
0
 Properties: S-plane (frequency) shift

 at
L{e f (t )}  F ( s  a )
Example : Proof :
L{e  at f (t )} 
L{e  at sin(t )}  
 at  st
  e f (t ) e dt 
0
(s  a) 2   2 

 f (t )e ( s  a ) t dt 
0

F (s  a)
 Properties: Multiplication by tn
n
n d n
L{t f (t )}  (1) n
F (s)
ds
Example : Proof :


L{t nu (t )}  L{t n f (t )}   t n f (t )e  st dt 
n 0
d 1
(1) n n
( ) 
ds s  f (t )t n e  st dt 
n! 0

s n 1  n  st
(1) n  f (t ) n e dt 
0
s

n n  st n n
(1)  f (t )e dt (1) F (s)
s n 0
s n
 Properties: Integrals
1 F (s)
L{D f (t )} 
0
s Proof : g (t )  D01 f (t )

Example : L{sin(t )}   g (t )e  st dt
0
let u  g (t ), du  f (t ) dt
1
L{D cos(t )} 
0 1
dv  e  st dt , v   e  st
1 s 1 s
( )( 2 )  2 1  st  1  st F ( s)
s s 1 s 1  [ g (t )e ]0   f (t )e dt 
s s s
L{sin(t )} t
g (t )   f (t )dt If t=0, g(t)=0
0 
for (t  )   f (t )e  st dt   so

0
 f (t ) dt  g (t )   slower than e st  0
0
 Properties: Derivatives


L{Df (t )}  sF ( s )  f (0 )
Example : Proof : 
L{D cos(t )}  d
L{Df (t )}   f (t )e  st dt
s2 0
dt

 f ( 0 )
2
s 1 u  e  st , du   se  st
let
s2 d
2
1  dv  f (t ) dt , v  f (t )
s 1 dt
s 2  ( s 2  1)  st

[e f (t )]  s  f (t )e  st dt 

s2 1 0
0
1
2
 L{ sin(t )}  f (0  )  sF ( s )
s 1
 Evaluating F(s)=L{f(t)}- Hard Way

remember  udv  uv   vdu

let
u  e  st , du   se  st dt
dv  sin(t )dt , v   cos(t ) Substituting, we get:
 
  
 e  st
sin(t )dt  [e  st
cos(t ) ]  s  e  st cos(t )dt   st 2  st
0
0
0  se
0
sin(t )dt  1  s  sin(t )dt 
0
e

 e  st (1)  s  e  st cos(t )dt 
0 (1  s 2 )  e  st sin(t ) dt 1
let u  e , du   se  st dt
 st
0
dv  cos(t )dt , v  sin(t ) 
 st 1

  e  st cos(t )dt 
 sin(t )dt 
0
e
1 s2
0


  It only gets worse…
[e  st sin(t ) ]  s  e  st sin(t )dt  e  st (0)  s  e  st sin(t )dt
0
0 0
  
Difference in f (0 ), f (0 ) & f (0)
• The values are only different if ( ) is not continuous @ = 0
• Example of discontinuous function: ( )

f (0  )  lim u (t )  0
t 0

f (0  )  lim u (t )  1
t 0

f (0)  u (0)  1
 Properties: Nth order derivatives
2
L{ D f (t )}  ?
Start with L{Df (t )}  sF ( s)  f (0)
Now apply again L{D 2 f (t )}
let g (t )  Df (t ) and Dg (t )  D 2 f (t )
then L{Dg (t )}  sG ( s )  g (0)
remember g (t )  Df (t )
 g ( 0)  f ' ( 0 )
G ( s )  L{g (t )}  L{Df (t )}  sF ( s )  f (0)
 L{Dg (t )}  sG ( s )  g (0)  s[ sF ( s )  f (0)]  f ' (0)  s 2 F ( s)  sf (0)  f ' (0)
Can repeat for D 3 f (t ), D 4 f (t ), etc.

L{D n f (t )}  s n F ( s )  s ( n 1) f (0)  s ( n  2 ) f ' (0)    sf ( n  2 )' (0)  f ( n 1)' (0)

 The “D” Operator
1. Differentiation shorthand

df (t )
Df (t ) 
dt
2 d2
D f (t )  2 f (t )
dt

2. Integration shorthand
t
t
g (t )  f (t )dt if g (t )   f (t )dt
if


a

then Dg (t )  f (t ) then g (t )  Da1 f (t )

Table of selected Laplace Transforms

1
f (t )  u (t )  F ( s ) 
s
 at 1
f (t )  e u (t )  F ( s ) 
sa
s
f (t )  cos(t )u (t )  F ( s )  2
s 1
1
f (t )  sin(t )u (t )  F ( s )  2
s 1
 More transforms

n n!
f (t )  t u (t )  F ( s)  n 1
s
0! 1
n  0, f (t )  u (t )  F ( s )  1 
s s
1!
n  1, f (t )  tu (t )  F ( s )  2
s
5 5! 120
n  5, f (t )  t u (t )  F ( s )  6  6
s s
 Rectangular Pulse function in Laplace
• A rectangular pulse:
– A constant amplitude (a)
– Pulse length T

f (t )  a, t  0
f (t )  0, t  0

L{ f (t )}  F ( s )   f (t )e  st dt
0
T
 1  st  1  e  sT
 a  e   a
 s 0 s
ifArea  1
aT  1
1  e  sT
F ( s) 
sT
 Unit Impulse function in Laplace
• An unit impulse –Dirac delta function:
– A amplitude a→∞
– Pulse length T →0
– is finite


L{ f (t )}  F ( s )   f (t )e  st dt
0

1  e  sT
F ( s )  lim
T 0 sT
The Laplace transform is obtained by 1
sT  ( sT ) 2
using Taylor series expansion: lim 2
T 0 sT
 1 
lim 1  ( sT )  1
T 0
 2 
 Function in Laplace
• An unit impulse is the time derivative of step function ( )
• Step function is the time derivative of ramp function ( ( ))
Mathematically:
= ,

= ( )
In the Laplace transform:
ℒ =1= = ℒ ,ℒ = = = ℒ
 Laplace Transforms & Transfer Functions

A time derivative corresponds to multiplication by s in the Laplace

domain.
Thus a time integral corresponds to division by s in the Laplace
domain.

33
 Exponential Function

An exponential function is defined

= , ≥ 0 if
> 0, the function is exponentially decaying
< 0, the function is exponentially increasing

34
 Sine and Cosine Function

The sine function:

= sin , ≥0
Applying integration by parts:
ℒ sin =
+

And ℒ cos =
It derived as:
cos = sin
ℒ {cos }= ℒ{sin }

35
 Laplace Transform -example

2t 1
f (t )  e L F (s) 
Laplace Transform s2
is a real variable is complex variable
( ) is a real function -1
L ( ) is a complex
Inverse
Laplace Transform
valued function

Frequency Domain
Time Domain
 Use of Laplace Transform in solving ODE

Differential Equation Laplace Algebraic Equation

Transform

x (t )  2 x (t )  0, x (0)  1  sX ( s )  1  2 X ( s )  0

1
x (t )  e  2 t  X (s) 
s2
Solution of the Inverse
Laplace Solution of the
Differential Equation
transform Algebraic Equation
Solving Linear ODE using Laplace Transform
x(t )  3x (t )  2 x(t )  u (t ), x(0)  x (0)  0
use LaplaceTransform

s X (s)  sx(0)  x(0) 3[sX (s)  x(0)]  2 X (s)  1s

2

2 1
s X ( s )  3sX ( s )  2 X ( s ) 
s
solve for X ( s )
1
X (s) 

s s 2  3s  2 
use inverse LaplaceTransform
x(t )  ???
 Inverse Laplace Transform

Inverse Laplace Transform

f (t )  L1 F ( s )
Partial Fraction Expansion :
Expand F(s) as the sum of first and second order terms
then obtain the inverse of each term and sum them.
 Partial Fraction Expansion

If F(s) is strictly proper and all poles of are distict

F(s) can be expressed as
n
Ai
F(s)  
i 1 s-si

where
Ai  s-si F ( s) s  s
i

n
si t
inverse Laplace Transform f(t)   Ai e
i 1
 Example
s5 s5
F(s)  
s 2  5s  4 ( s  1)( s  4)
strictly proper, poles are at  1,  4 distinct
n
Ai A1 A2
F(s)    
i 1 s-si ( s  1) ( s  4)
where
s5
A1  s-s1 F ( s) s  s  s  1F ( s ) s 1  2
1
( s  4) s  1
s5
A2  s-s2 F ( s) s  s  s  4 F ( s) s  1   3
2
( s  1) s  4
n
inverse Laplace Transform f(t)   Ai e si t  2e t  3e  4t for t  0
i 1
 Repeated poles
If F(s) has repeated poles the formula used to obtain A1 is modified
5s  16
F(s)  2
strictly proper, poles are at  2,2 ,  5
( s  2) ( s  5)
A11 A12 A2
F(s)   
( s  2) 2 ( s  2) ( s  5)
5s  16
A11  ( s  2) 2 F ( s )  2
s  2 ( s  5) s  2
d d  5s  16   5( s  5)  (5s  16) 
A12 
ds

( s  2)2 F ( s )     
ds  ( s  5)  s  2  ( s  5) 2  1
s  2  s  2
5s  16
A2  ( s  5) F ( s ) s 5   1 ( distict pole)
( s  2) 2 s  5

inverse Laplace Transform f(t)  2te 2t  1e 2 t  1e 5t for t  0

 Repeated poles
If F(s) has repeated poles the formula used to obtain A1 is modified
s3
F(s)  3
strictly proper, poles are at  1,1,  1,  4
( s  1) ( s  4)
A11 A12 A13 A2
F(s)    
( s  1)3 ( s  1)2 ( s  1) ( s  4)
A11  ( s  1)3 F ( s )
s  1

d
A12 
ds

( s  1)3 F ( s ) 
s  1

1 d2
A13 
2! ds 2
( 
s  1) 3
F (s) 
s  1

A2  ( s  4) F ( s ) s 4 (distict pole)

inverse Laplace Transform f(t)  0.5 A11t 2e t  A12te t  A13e t  A2 e 4 t for t  0
 Complex Poles

4s  8
F(s)  2 has two complex poles at - 1  j2 and - 1 - j2
s  2s  5

k1 k2
F(s)  
( s  1  j 2) ( s  1  j 2)
k1  ( s  1  j 2) F ( s ) s  1 j 2
k 2  ( s  1  j 2) F ( s ) s  1 j 2  k 1
f (t )  k1e ( 1 j 2 )t  k 2 e ( 1 j 2) t  ?
 Notation

F(s) is rational function in s , it can be expressed as

N(s)
F(s)  where N(s) and D(s) are polynomials
D(s)
roots of N(s) are called the zeros of F(s)
roots of D(s) are called the poles of F(s)
 Notation

s2 s2
2
 poles :  3,  4 , zero :  2
s  7 s  12 (s  4)(s  3)
s 3
pole :  0.5 , zero : 3
2s  1
 Order-ODE
( ) + + + ⋯..+ +
=
( ) + + + ⋯..+ +

When order of the denominator polynomial is greater than the

numerator polynomial, the transfer function is said to be ‘proper’.

Otherwise ‘improper’
 Examples

1 s2
2
, 2 are strictly proper
s  7 s  12 s  7 s  12
s 2  3s  2 s  2
2
, are proper
s  7 s  12 2s  1
 What do we do if
F(s) is not strictly proper
If F(s) is proper but not strictly proper 
use long division to express it as F(s)  k  G(s)
where k is a real number and G(s) is strictly proper.

s 2  4s  6 s4
F(s)  2
 1
s  3s  2 s 2  3s  2
s4 3 2
F(s)  1   1 
( s  2)( s  1) ( s  1) ( s  2)
f (t )   (t )  3e t  2e 2t for t  0
 Example

2s 2  s  3  7s  5
F(s)  2  2
s  4s  4 s 2  4s  4

2
s 2  4 s  4 2s 2  s  3
− − −
2 s 2  8s  8
 7s  5
 Example
2s 2  s  3  7s  5  7s  5
F(s)  2  2 2 2
s  4s  4 s  4s  4 s  22
A B
2 
s  22 s  2
 7s  5
A  s  2 
2
9
s  2 s 2
2

d  2  7s  5  d
B   s  2  
2 
  7 s  5  7
ds  s  2  s  2
ds s  2

 9 7   2t  2t
f (t )  L1 2     2 ( t )  9te  7 e
 s  2 2
s  2
 Poles and zero of System

• Poles of the system are represented by ‘x’ and zeros of the

system are represented by ‘o’.
• System order is always equal to number of poles of the
transfer function.
• Following transfer function represents nth order plant.
 Poles and zero of System

• Poles is also defined as “it is the frequency at which system

becomes infinite”. Hence the name pole where field is infinite.

• And zero is the frequency at which system becomes 0.

 Home work
Consider the following transfer functions.
Determine:
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system
s3 ii)
s
i) G( s )  G( s ) 
s( s  2 ) ( s  1)( s  2)( s  3)

( s  3) 2 s 2 ( s  1)
iii) G( s )  iv) G( s ) 
s( s 2  10 ) s( s  10)