Laplace transform and inverse Laplace transform;

transfer function; Modeling in the time domain

Presented by

Presented to M. TAYYAB YAQUB

Sir Dr. Arsalan 21107004-003
Masood
KHALID MAHMOOD
21107004-004
MS Electrical Engineering

UNIVERSITY OF SIALKOT
Transfer
Function
 Transfer Function
• A transfer function is defined as the ratio of
the Laplace transform of output response to
the Laplace transform of input assuming all Input Transfer Output
initial conditions to be zero. R(s) Function
C(s)
• A block diagram is a visualization of the G(s)
control system which uses blocks to
represent the transfer function, and arrows In a Laplace Transform, if the input is represented
which represent the various input and output by R(s) and the output is represented by C(s), then
the transfer function will be:
signals.
• The cause and effect relationship between G(s) =
the output and input is related to each other
through a transfer function.
 Procedure for determining the transfer function
1. We form the equations for the system.

2. Then we take Laplace transform of the system equations, assuming initial conditions as zero.

3. Specify system output and input.

4. Lastly we take the ratio of the Laplace transform of the output and the Laplace transform of
the input which is the required transfer function.

Block diagram of a transfer function

 Transfer Function in Electrical System
• Let us consider a system consists of a series connected resistance (R) and
inductance (L) across a voltage source (V).

• From the circuit, we get, V = Ri + L

• Now applying Laplace Transform, we get,

V(s) = RI(s) + L [sI(s) – i(0+)]
(as Initially, inductor behaves as open, hence, i(0+) = 0]

V(s) = I(s) + [R+ Ls]

= =
The transfer function of the system, G(s) = I(s)/V(s), the ratio of output to input.
 Methods of Obtaining a Transfer Function
There are major 2 methods of obtaining a
transfer function for the control system. These are:
Block Diagram Method: 
It is not convenient to derive a complete transfer
function for a complex control system. Therefore the
transfer function of each element of a control system Block Diagram
is represented by a block diagram. Block diagram
reduction techniques are applied to obtain the
desired transfer function.
Signal Flow Graphs: 
The modified form of a block diagram is a signal
flow graph. Block diagram gives a pictorial
representation of a control system. Signal flow graph
further shortens the representation of a control
system. Single Flow Graphs
 Limitations of Transfer Function
• Only applicable to linear system.

• It does not provide any information concerning the physical

structure of the system.

• From transfer function, physical nature of the system whether

it is electrical, mechanical, thermal or hydraulic can not be
judged.

• Effects arising due to initial conditions are neglected. Hence

initial conditions lose their importance

The transfer function was primary tool used in classic control engineering. However it has proven to be unwieldy
for the analysis of multiple-input multiple-output (MIMO) systems, and has been largely supplanted by state space
representations for such system. in spite of this, a transfer matrix can be always obtained for any linear system.
Modeling in the
Time Domain
 Modeling in the Time Domain
• State-space approach (also referred to as the modern, or
time-domain, approach) is a unified method for modeling, Mathematic Models
analyzing, and designing a wide range of systems.
• Two approaches are available
• for the analysis and design of
The state-space approach can be used to represent; feedback control systems.

 Nonlinear systems 1. Classical or Frequency Domain

 approach
Time-varying systems
 Multiple-input, multiple-output (MIMO) systems 2. State-state approach or Time
Domain approach
• The time-domain approach can also be used for the same
class of systems modeled by the classical approach.
 State-Space Representation
An LTI system is represented in state-space format
by the vector-matrix differential equation as;

x = State Vector
ẋ = Derivative of the state vector w.r.t. time
y = Output vector
u = Input or control vector
A = System matrix
B = Input matrix
C = Output matrix Graphic representation of state
space and a state vector
D = Feed-forward matrix
 State-Space Representation
System Variables: Any variable that responds to an input or
initial conditions in a system.
State Variables: The smallest set of linearly independent
system variables such that the initial condition set and applied
inputs completely determine the future behavior of the set.
State Vector: An (n x 1) column vector whose elements are the
state variables.
State Space: The n-dimensional space whose axes are the state
variables.
State Equation: A set of n simultaneous, first-order differential
equations with n variables, where the n variables to be solved x = State Vector
ẋ = Derivative of the state vector w.r.t. time
are the state variables. y = Output vector
Output equation: The algebraic equation that expresses the u = Input or control vector
A = System matrix
output variables of a system as linear combinations of the state B = Input matrix
variables and the inputs. C = Output matrix
D = Feed-forward matrix
 Process of State-Space Approach
• Select a particular subset of all possible system variables (state variables).

• For an nth order system, write n simultaneous, first-order differential equations

in terms of the state variables (State equations)

• If the initial condition of all of the state variables at t0 as well as the system
input for t ≥ t0 are given, we can solve the simultaneous differential equations for
the state variables for t ≥ t0.

• Algebraically combine the state variables with the system’s input and find all of
the other system variables for t ≥ t0 (Output equation).

• The state equations and the output equations  state-space representation.

 Example of State-Space Representation

Step – 1

• Select a particular subset of all possible

system variables => State Variables

• The state variables are linearly independent.

• i(t), q(t)
 Example of State-Space Representation
Step – 2

• For an nth order system.

• Write n simultaneous, first order differential equations in

term of the state variables and input => State Equations

L + Ri + = v(t)

[ L + R + = v(t)
L + Ri + = v(t)
=i
= – – i + v(t)
 Example of State-Space Representation
Step – 3

• If we know the initial condition of all the state variables at

t0 as well as the system input for t ≥ t0,

• We can solve the simultaneous differential equations for

the state variables for t ≥ t0.

SQ(s) – q(t0) = I(s)

sI(s) – i(t0) = – – I(s) + V(s)

 Example of State-Space Representation
Step – 4

• Algebraically combine the state variables with the

system’s input and find all of the other system variables
for t ≥ t0. => Output equation

VL(t) = – q(t) – Ri(t) + v(t)

VR(t) = Ri(t)

VC(t) = –L – Ri + v(t)
 Example of State-Space Representation
Step – 5

• The state equations and the output equations

=> State-space representation.
= i = – – i + v(t) VL(t) = – q(t) – Ri(t) + v(t)

x = State Vector
ẋ = Derivative of the state vector w.r.t. time
y = Output vector
u = Input or control vector
A = System matrix
B = Input matrix
C = Output matrix
D = Feed-forward matrix