Transfer Functions

Convenient representation of a linear, dynamic model.

Chapter 4

A transfer function (TF) relates one input and one output:

u (t )
U (s)

system

y (t )
Y (s)

The following terminology is used:

u

input

output

forcing function

response

cause

effect

Definition of the transfer function:

Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition

Chapter 4

Y ( s)
G( s)
U ( s)

where:

Y ( s ) L y (t )

U ( s ) L u (t )

Development of Transfer Functions

Example: Stirred Tank Heating System

Chapter 4
Figure 2.3 Stirred-tank heating process with constant holdup, V.

Recall the previous dynamic model, assuming constant liquid

holdup and flow rates:
dT
V C
wC Ti T Q
dt

(2-36)

Chapter 4

Suppose the process is at steady state:

0 wC Ti T Q

(2)

Subtract (2) from (2-36):

dT
V C
wC Ti Ti T T Q Q
dt

(3)

But,

Chapter 4

dT
V C
wC Ti T Q
dt

(4)

where the deviation variables are

T T T , Ti Ti Ti , Q Q Q
Take L of (4):
Ti s T s Q s (5)
V C sT s T 0 wC
At the initial steady state, T(0) = 0.

Rearrange (5) to solve for

K
1

T s
Q s
Ti s
s 1
s 1

Chapter 4

where

1
V
K
and
wC
w

(6)

Chapter 4

T (s)=G1(s)Q(s) G2(s)Ti(s)
G1 and G2 are transfer functions and independent of the
inputs, Q and Ti.
Note G1 (process) has gain K and time constant
G2 (disturbance) has gain=1 and time constant
gain = G(s=0). Both are first order processes.
If there is no change in inlet temperature (T i= 0),
then Ti(s) = 0.
System can be forced by a change in either Ti or Q
(see Example 4.3).

Chapter 4

Conclusions about TFs

1. Note that (6) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
valid.
2. The TF model enables us to determine the output response to
any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.

Example: Stirred Tank Heater

K 0.05 2.0

Chapter 4

0.05
T
Q
2s 1

No change in Ti

Step change in Q(t):

500

Q
s
T

1500 cal/sec to 2000 cal/sec

0.05 500
25

2s 1 s
s (2s 1)

What is T(t)?

T (t ) 25[1 e

t /

From line 13, Table 3.1

t / 2

T (t ) 25[1 e ]

T ( s )

25
s ( s 1)

Properties of Transfer Function Models

Chapter 4

1. Steady-State Gain
The steady-state of a TF can be used to calculate the steadystate change in an output due to a steady-state change in the
input. For example, suppose we know two steady states for an
input, u, and an output, y. Then we can calculate the steadystate gain, K, from:
y2 y1
K
u2 u1

(4-38)

For a linear system, K is a constant. But for a nonlinear

system, K will depend on the operating condition u , y .

Calculation of K from the TF Model:

If a TF model has a steady-state gain, then:
K lim G s

Chapter 4

s 0

(14)

This important result is a consequence of the Final Value

Theorem
Note: Some TF models do not have a steady-state gain (e.g.,
integrating process in Ch. 5)

2. Order of a TF Model
Consider a general n-th order, linear ODE:

Chapter 4

an

dny
dt

an 1
bm1

dy n1
dt n1

d m1u
dt

m 1

dy
d mu
K a1 a0 y bm m
dt
dt

du
K b1
b0u
dt

(4-39)

Take L, assuming the initial conditions are all zero. Rearranging

gives the TF:
m

G s

Y s

U s

i
b
s
i
i 0
n

i
a
s
i
i 0

(4-40)

Definition:
The order of the TF is defined to be the order of the denominator
polynomial.

Chapter 4

Note: The order of the TF is equal to the order of the ODE.

Physical Realizability:
For any physical system, n m in (4-38). Otherwise, the system
response to a step input will be an impulse. This cant happen.
Example:
du
a0 y b1
b0u and step change in u
dt

(4-41)

2nd order process

General 2nd order ODE:

Chapter 4

d2y
dy
a 2 + b y = Ku
dt
dt

Laplace Transform:
G(s)
2 roots

as

bs + 1 Y ( s ) KU ( s )

Y ( s)
K
2
U ( s ) as bs 1

s1, 2

b b 2 4a

2a
2
b
1
4a
b2
1
4a

: real roots
: imaginary roots

Examples
1.

2
3s 2 4 s 1

b 2 16
1.333 1
4a 12

Chapter 4

3s 2 4 s 1 (3s 1)( s 1) 3( s 1 )( s 1)
3

transforms to e

, e t (real roots )

(no oscillation)
2.

2
s2 s 1

b2 1
1
4a 4

s 2 s 1 ( s 0.5
transforms to e

(oscillation)

0.5 t

3
3
j )( s 0.5
j)
2
2

3
3
0.5 t
cos
t, e
sin
t
2
2

From Table 3.1, line 17

e

- bt

sin t

Chapter 4

2
2

s s 1

( s b) 2 2
2

3
(s+0.5)

Two IMPORTANT properties (L.T.)

Chapter 4

A. Multiplicative Rule

B. Additive Rule

Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)

Chapter 4

Distance L for plug flow,

Dead time

V = fluid velocity
Tank:

K1
T(s)
G1 =
=
U(s) 1+ 1s

Ts (s) K 2 e -s
=
Sensor: G 2 =
T(s) 1 + 2s

K 2 1,

Overall transfer function:

Ts Ts T
K1K 2e s
G 2 G1
U T U
1 1s

2 is very small

(neglect)

Chapter 4

Linearization of Nonlinear Models

Required to derive transfer function.

Good approximation near a given operating point.
Gain, time constants may change with
operating point.
Use 1st order Taylor series.
dy
f ( y, u )
dt
f ( y, u ) f ( y, u )

f
y

( y y)
y ,u

(4-60)
f
u

(u u )

(4-61)

y ,u

Subtract steady-state equation from dynamic equation

dy f
f

y
u
dt y s
u s

(4-62)

Example 3:
q0: control,
qi: disturbance

Chapter 4

Use L.T.

dh
qi q0
dt

qi q0 at s.s.

dh
A
qi q0
dt

AsH ( s ) qi ( s ) q0 ( s ) (deviation variables)

suppose q0 is constant
H(s)
1

AsH ( s ) qi ( s ),

q ( s ) As
i

pure integrator (ramp) for

step change in qi

If q0 is manipulated by a flow control valve,

q0 C v h

Chapter 4

nonlinear element

Figure 2.5

Linear model
R: line and valve resistance
linear ODE : eq. (4-74)

if q0 CV h

Chapter 4

dh
A qi Cv h
dt
Perform Taylor series of right hand side

dh
1

A
qi h
dt
R

R 2h

0.5

/ Cv

Chapter 4

Chapter 4

Chapter 4

Chapter 4
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