EE 401 Control Systems Analysis and Design

The Transfer Function

Lecture 3 EE 401: Control Systems Analysis and Design Slide 1 of 10

The Transfer Function

• The Transfer Function

 Many physical systems can be “adequately” modelled via
linear differential equations
 Moreover, it is often reasonable to assume constant
coefficients for the ODEs
 Consider the single-input single-output LTI system

The textbook uses r(t) and c(t) for

System generic input and output signals.
Input Output

 Described by an nth order constant-coefficient ODE

Lecture 3 EE 401: Control Systems Analysis and Design Slide 2 of 10

The Transfer Function

 Taking the LT of Eqn (1)

 Ignoring the initial condition terms:

G(s)
Input Output

The Transfer
Function

Lecture 3 EE 401: Control Systems Analysis and Design Slide 3 of 10

The Transfer Function

 The roots of the denominator polynomial are called the

“poles” of the system.
o  
Poles dominate the system's behavior =poles)∞ Infinities?
 The roots of the numerator polynomial are called the
“zeros” of the system  
=zeros)0
 Physical systems cannot have more zeros than poles.
Why? e.g.,   Non-causal!!
 We can use block diagrams to represent our systems
Time Domain Laplace Domain
We will focus on
g(t) G(s) Laplace domain
Input Output Input Output
representations!
!

Lecture 3 EE 401: Control Systems Analysis and Design Slide 4 of 10

The Transfer Function

• What if we do NOT ignore the initial conditions?

 Same denominator, hence, response still dominated by

same poles.

Lecture 3 EE 401: Control Systems Analysis and Design Slide 5 of 10

The Transfer Function

• Example #1:
 Given a system modeled as

 Determine the transfer function of the system

 Taking the LT of Eqn. (3) gives (ignoring ICs):

  1
 Thus, 𝑠+ 2

Lecture 3 EE 401: Control Systems Analysis and Design Slide 6 of 10

The Transfer Function

• Question:
 How would the system respond to a unit-step input (ICs =0)?

 Hence,
Due to pole @ s=-2

Lecture 3 EE 401: Control Systems Analysis and Design Slide 7 of 10

The Transfer Function

• Example #2:
 Given the transfer function of a system as
  2 𝑠 +1
2
𝑠 +6 𝑠+2

 Determine the ODE model of the system

Lecture 3 EE 401: Control Systems Analysis and Design Slide 8 of 10

The Transfer Function
  𝑠
• Example #3 ¿¿
 What is the impulse response of the system? 

 
 What is the step response of the system? ¿∫ Impulse Response
 

 What is the ramp response of the system?

¿∫ Step Response

Lecture 3 EE 401: Control Systems Analysis and Design Slide 9 of 10

Next Lecture

• Next Lecture
 Modeling Electrical Systems
o Textbook Chap 2.4

Lecture 3 EE 401: Control Systems Analysis and Design Slide 10 of 10