Lecture 2

TRANSFER FUNCTION
LAPLACE TRANSFORM
BLOCK DIAGRAM

S116 IDL 1
 LEARNING OUTCOMES
• Use the Laplace transform theorems to solve the problems in Laplace
transform and inverse Laplace transform.
• Define the transfer function.
• Find out the differences between open-loop and closed-loop transfer
functions for feedback control system.
• Derive the open-loop transfer function and closed-loop transfer function of
the feedback control system.
• Derive the transfer function of complex system using block diagram algebra.
 Laplace Transform
• Is a method of transforming Differential Equations into
more easily solved Algebraic Equation.

• Differential Equation – which describe how a circuit

behaves with time.

• One of the techniques used in solving engineering

problems based on a transformation of function in TIME
domain (t) into a function FREQUENCY domain (s).
• Commonly used in the ANALYSIS PROCESS of a Control
System and also to determine the Stability.

• It is actually a Mathematical Transform.

• Eg. Of Mathematical Transform is when the problem of

Multiplication is changed into the Simpler operation of
ADDITION by means of the LOGARITHM TRANSFORM.

• The Laplace Transform is a SIMILAR type of Mathematical

operation to this logarithm transform.
 Laplace Transform

Laplace Transform
f(t) F(s)
Inverse Laplace Transform
Laplace Transform Pair Table
Laplace transform theorem
 Exercise
1. Find the Laplace transform of
(a) f(t) = A e-at u(t)
3 2
(b) y (t )  3  3 2y  5 dy  4 y
d y d
dt dt dt

2. Find the Inverse Laplace transform of F ( s )  1

( s  3) 2
A
ANSWER: 1(a) ( s  a)

1(b) Y(s) = s3Y(s) + 3s2Y(s) + 5sY(s) + 4 Y(s)

2. f(t) = e-3ttu(t)
 Transfer Function Definition
• The transfer function is the ratio of the Laplace transform of the output of a
system to the Laplace transform of the input.
• As a example, the transfer function, G(s) for a system representation is

C ( s)
G ( s) 
R( s)
 Deriving a transfer function from a
differential equation

an s nC ( s )  an 1s n 1C ( s )  ...  a0C ( s )  initial condition 

bm s m R( s)  bm 1s m 1 R( s)  ...  b0 R( s )  initial condition
 Exercise
1. Find the transfer function represented by dc(t )
 2c(t )  r (t )
dt
Solution
Taking LT both side (refer Table 2.1 and 2.2), and assume zero
initial condition
sC ( s )  2C ( s )  R ( s )
C (s) 1
 G (s)  
R(s) s  2
2. Use the above results to find the response, c(t) to an input r(t) =
u(t), a unit step. Assume zero initial condition.

Answer 1 1  2t
c(t )   e
2 2
 Exercise
• Find the transfer function, G(s) corresponding to differential equation:
d 3c d 2c dc d 2r dr
3
 3 2
 7  5c  2
 4  3r
dt dt dt dt dt

• Find the differential equation corresponding to the transfer function:

2s  1
G ( s)  2
s  6s  2
• Find the ramp response of this system
s
G (s) 
( s  4)( s  8)
Answers
s 2  4s  3
G ( s)  3
s  3s  7 s  5
d 2 c(t ) dc(t ) dr (t )
2
6  2c(t )  2  r (t )
dt dt dt
1 1  4 t 1 8 t
c(t )   e  e
32 16 32
 BLOCK DIAGRAM MODEL
• Establishing the models for complex systems results in the
linking together of a number of SUBSYSTEM or elements.

• BLOCK DIAGRAMS can be used to represent each of these

subsystems and, the grouped and linked array, the system
as a whole.

• Each of this block has its own Transfer Function.

 Block Diagram Components
ARROWS :
Are used to represent the directions of signal flow.

SUMMING POINT :
Is where signals are algebraically added together. ( Normally the feedback signal being
subtracted from the required value to give the error signal )

TAKE-OFF POINT :
The junction which is represented by two lines
meeting and the junction marked with a ‘.’ ( In Electric cct, the Junction between
conductors which enables a current to be taken off )

BLOCK :
Is usually drawn with its transfer function written inside it.
Transfer Function for Feedback Control
System

B(s)

General Feedback Form

 Deriving Transfer Functions
C (s)
• Forward Path TF = G ( s) 
E (s)
• Feedback Path TF = B( s)
H ( s) 
C ( s)
• Open-loop TF = B( s)
G (s) 
E ( s)
• Closed-loop TF = C (s)
M (s) 
R(s)
Or equivalently
• Forward Path :
Is used for those elements through which the signal passes when
moving in the direction INPUT-TO-OUTPUT for the system as a whole.

• Feedback Path :
The feedback path is used for those elements through which a signal
passes when being fed back from the output towards the input. [ The
T.F. for elements in the feedback path are usually designated by H or
H(s) ]

• Feedback Path :
The term feedforward path is used for those elements which are in
parallel with the forward path and thru which signals move in the
same direction, i.e. INPUT-TO-OUTPUT.
Block Diagram Algebra
fig_05_02

fig_05_02
fig_05_03

fig_05_03
fig_05_05

fig_05_05
fig_05_07

fig_05_07
fig_05_08

fig_05_08
 Exercise
• Reduce the block diagram shown below to a single transfer function.
Answer
 Exercise
 Reduce the block diagram shown below to a single transfer
function.
Answer
 Exercise
 Find the equivalent transfer function, T(s)=C(s)/R(s) for the
system shown below.

s3  1
T ( s)  4
Answer 2s  s 2  2s
-vefig_05_06
FB Control