1-01-c <Transfer Function and System Block Diagrams>

Dr. Norbert Cheung’s

Lecture Series

Level 1 Topic no: 01-c

Transfer Function
and System Block Diagrams

Contents
1. Linear and Nonlinear Systems
2. Transfer Function and Impulse Response Function
3. Block Diagram of Feedback Control System
4. Block Diagram Reduction

Reference:
Chapter 3, “Modern Control Engineering,” K. Ogata, Prentice Hall
Feedback Control Systems – Schaum’s Outline Series

Email: [email protected]
Web Site: http://norbert.idv.hk
Last Updated: 2024-03

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1-01-c <Transfer Function and System Block Diagrams>

1. Linear and Nonlinear Systems

The Mathematical Model of a dynamic System is defined as a set of equations that

represent the dynamics of the system accurately. Mathematical models may have
different forms (e.g. differential equations, Laplace, State Space, etc.)

Once Mathematic Model of a system is obtained, various analytical and computer

tools can be used for analysis and synthesis purposes.

For our case, we concentrate on studying Single-Input-Single-Output, Linear, Time-

Invariant Systems.

In 1 Out 1
In Out In 2 Out 2

In 3 Out 3

SISO System (e.g. Air Conditioner) MIMO System (e.g. Air Craft Control)

Linear Systems obey the principle of superposition. The principle of superposition

states that the response produced by the simultaneous applications of two different
forcing functions is the sum of the two individual responses.

Nonlinear Systems does not obey the Law of Superposition. Examples are:

2
d 2 x  dx 
+   + x = Asint
dt2  dt 

d 2x
dt 2
(
+ x2 −1
dx
dt
+x=0)

Output Output Output

Input Input Input

Linear System Saturation Nonlinearity Dead Zone Nonlinearity

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1-01-c <Transfer Function and System Block Diagrams>

Linear Time-Invariant Systems have coefficients that are constants or functions only of
the independent variable. Systems that are represented by differential equations whose
coefficients are functions of time are called linear time-varying systems. An example
is the space-craft control system, whose dynamic characteristics changes with time,
because of the fuel consumption.

Linearization of nonlinear system involves a technique in which the control system is

designed to have an operating point with a limited range, in which the characteristics
inside this range is approximately linear.

2. Transfer Function and Impulse Response Function

A Transfer Function is used to specify the input output relationship of a component or
system.

x(t) y(t)
Transfer Function
input output

The linear time-invariant transfer function has the following form:

( n) ( n−1) ( m) ( m−1)
a0 y + a1 y + + an−1 y + an y = b0 x + b1 x + + bm−1 x + bmx
(nm)

where y is the output and x is the input.

Assuming all initial conditions are zero, we can take the Laplace Transform of both
sides:

 [output]
Transfer_ function= G(s) =
 [input] zero_ initial _ condition
Y (s)
=
X (s)

b0 s m + b1 s m−1 + + bm−1 s + bm
=
a0 s n + a1 s n +1 + + a n −1 s + a n
If the highest power is n, the system is called nth order system

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1-01-c <Transfer Function and System Block Diagrams>

Transfer Function…..

1. Is a mathematical model expressed in differential equations that relates the

output to the input.

2. Is the property of the system. It is independent of the input.

3. Does not provide the physical nature of the system. Therefore, two different
physical systems can have the same transfer function.

4. Can be used to predict the output or response of the system. (Simulation)

5. Of an unknown system can be established experimentally by studying the inputs

and outputs of a system. (System Identification)

How to obtain the Transfer function?

1. Write the differential equation for the system

2. Find its Laplace Transform, assuming all conditions are zero.
3. Find the ratio of the output against its input
4. This ratio is the transfer function

The Impulse Response Function

To find the output response of a system when it is subjected to a unit impulse
response:
Y(s) = G(s) × impulse response

In s-domain, the impulse response is unity, hence the equation can be simplified to:
Y(s) = G(s)
The output is actually equal to the transfer function. To find the response in time
domain:

 −1[G(s)] = g (t )

g(t) can be treated as the transfer function in the time domain. It is also called the
impulse response function. Experimentally, if we want to find the transfer function of
a system, we can feed a unit impulse to the input, and measure the response from the
output.

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1-01-c <Transfer Function and System Block Diagrams>

Example in Transfer Function

Consider a satellite control system shown in the figure below. Find its Transfer Function.

L
F/2

CG

theta
F/2
Reference

Solution
Thrust of each jet: F/2,
Therefore, Torque T= FL
Moment of Inertia = J

d 2
Therefore, Torque as a function of time can be written as: J =T
d t2

Taking the Laplace transform of both sides: Js 2 (s) = T (s)

( s) 1
The transfer function is output/input: = 2
T ( s ) Js

3. Block Diagram of Feedback Control System

A Block Diagram is a pictorial representation of the function by each component, and
of the flow of signals. It can display the system and signal flow more clearly.

Block – Specifies the transfer function and the signal flow. The block contains at least
two arrows; one input and one output.
Summing Point – Sums two or more signals together. The input can be positive or
negative, an it is dictated by the input (+) or (-) sign.
Branch (takeoff) Point – A place in which the signal goes to two or more places.

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1-01-c <Transfer Function and System Block Diagrams>

Blocks in Cascade:

Feedback Control Block Diagram Summary:

E(s) Error signal

C(s) Output of the forward block
B(s) Output of the feedback block
R(s) Reference, or command signal
G(s) Transfer function of the forward block
H(s) Transfer function of the feedback block

In the following equations, the (-) sign refers to a positive feedback system, and the (+)
sign refers to a negative feedback system:

The Open Loop Transfer Function is the ratio of the feedback signal to the actuating
signal
B(s)/E(s) = G(s)H(s)

The ratio of the output to the actuating error is the Feed Forward Transfer Function:
C(s)/E(s) = G(s)
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The Closed Loop Transfer Function can be obtained as follows:

C(s) = G(s)E(s)
E(s) = R(s) – B(s)
= R(s) – H(s) C(s)
Therefore:
C(s) = G(s) [R(s) - H(s)C(s)]

C (s) G (s) G (s)

Or = Output is C (s) = R(s)
R(s) 1 + G (s) H (s) 1 + G (s) H (s)

For Close Loop System subject to disturbance

D(s)

R(s) E(s) C(s)

+_ G1(s) + G2(s)
+

B(s)
H(s)

Assume there is zero initial error, then the transfer function of D(s) to C(s) is:

C D ( s) G2 (s)
=
D(s) 1 + G1 (s)G2 (s)H (s)

If G1(s)G2(s) >> 1, then the function approaches zero

The input-output response of the system is

C R ( s) G1 (s)G2 (s)
=
R(s) 1 + G1 (s)G2 (s)H (s)

If G1(s)G2(s) >> 1, then the function approaches 1/H(s)

This means that, for system with high feed forward gain:
 Disturbance will be eliminated
 Gain of system will approach unity if H(s) is 1
 Gain of system is independent of feed forward function
 Gain of system is dependent of feedback function

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1-01-c <Transfer Function and System Block Diagrams>

Procedure for drawing a block diagram (with feedback), an example:

R

e i e
i C o

i=
ei − eo
and eo =
 idt
R C

Take the Laplace Transform of the two equations:

Ei ( s) − Eo ( s) I (s)
I ( s) = and Eo ( s ) =
R sC

Transfer the first equation into block diagram

I(s)
E (s)
i +_ 1/R

Eo(s)

Transfer the second equation into block diagram

I(s) E (s)
o
1/Cs

Then complete the whole picture

E (s)
E (s) I(s) o
i +_ 1/R 1/Cs

Done!

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4. Block Diagram Reduction

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VERY IMPORTANT
In simplifying the block diagram, the following rule must apply:
1. The product of the transfer function in the feed forward direction must remain the
same.
2. The product of the transfer functions around the loop must remain the same.

Reduction of Complicated Block Diagrams

Step 1: Combine all cascade blocks using Transformation 1.
Step 2: Combine all parallel blocks using Transformation 2.
Step 3: Eliminate all minor feedback loops using Transformation 4.
Step 4: Shift summing points to the left and takeoff points to the right of the major loop,
using Transformations 7, 10, and 12.
Step 5: Repeat Steps-J to 4 until the canonical form has been achieved for a particular
input.
Step 6: Repeat Steps 1 to 5 for each input, as required.

Transformations 3, 5, 6, 8, 9, and 11 are sometimes useful, and experience with the

reduction technique will determine their application.

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Example 1

Step 1:

Step 2

Step 3

Step 4 Does not apply

Step 5

Step 6 Does not apply

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Example 2

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Glossary – English/Chinese Translation

English Chinese
Transfer Function 传递函数
System Block Diagram 系统框图
Linear System 线性系统
Non-Linear System 非线性系统
Block Diagram 方框图
Block Diagram Reduction 框图缩减
Mathematical Model 数学模型
Single Input Single Output 单输入单输出
Linear Time Invariant System 线性时不变系统
Law of Superposition 叠加定律
Saturation and Dead Zone 饱和度和死区
Impulse Response Function 脉冲响应功能
System Identification 系统识别
Moment of Inertia 转动惯量
Direct Transfer Function 直接传递功能
Feedback Transfer Function 反馈传递函数
Open Loop and Closed Loop 开环和闭环
Disturbance 外部干扰
Transformation 转型

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Your Notes:

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