Dr.

Khalid Hasan Masoud

Control Systems [ELE0334]

Transfer function, Block diagram and Signal flow graph

 Control Systems - Transfer function Dr. Khalid Hasan Masoud

- Impulse response: the output response of the system x(t) when

the input is a unit impulse function x(t) = δ(t).
- The output y(t) is the impulse response of the function g(t).
- LTI (linear time invariant) System: A system that is represented by
differential equations that have constant coefficients.
- Transfer function: The basis of representing the input output relationship
of a LTI system, together with the block diagram and signal flow graph.
- System data: Input x(t), Output y(t), relationship between x(t) & y(t) = g(t)
 Control Systems - Transfer function Dr. Khalid Hasan Masoud

y(t) = ‫׬‬0t g(τ) x(t-τ)dτ x(t)

Y(s) = G(s) X(s)
G(s) = L[g(t)] [g(t) is impulse response]
- But typical LTI system is often described
by a differential equation: 0 t
dn y(t) dn−1 y(t) dm x(t) dm−1 x(t)
a0 + a1 + ⋯ + any t = b0 + b1 + ⋯ + bmx t
dt n dt n−1 dt m dt m−1
- a0, a1, a2, … , an, b0, b1, b2, … , bm are real numbers, and n >= m

- The output response y(t) is determined by solving the above differential equation.
- This is combersome.
 Control Systems - Transfer function Dr. Khalid Hasan Masoud

To avoid the time domain complicated solution of differential equations, simply

obtain the transfer function in s domain by taking the Laplace transformation on both
sides, considering the initial conditions to be zero:
dn y(t) dn−1 y(t) dm x t dn−1 x t
L[ a0 n + a1 n−1 + ⋯ + any t = b0 + b1 n−1 + ⋯ + bmx t ]
dt dt dtn dt

[a0 s n + a1 s n−1 + … + an] Y s = b0 s n + b1 s n−1 + … + bm X s n >= m

Y(s) b0 sm +b1 sm−1 + … +bm 1s+ bm

∴ Therefore, the transfer function G(s) = = − n >= m
X(s) a0 sn + a1 sn−1 + …+an 1s+ an
−
 Control Systems - Transfer function Dr. Khalid Hasan Masoud

Example: Write the loop equation of the electrical network in s domain.

Solution:
di(t) 1
v(t) = Ri(t) + L + ‫ ׬‬i t dt
dt C
1
L[v(t)] = V(s) = [R + sL + ] I(s)
sC
I(s) 1
∴ = 1 Circuit transfer function
V(s) R + sL + sC
I(s) 1
The transfer function G(s) = = 1
V(s) R + sL + sC
1
Voltage across the capacitor VC is considered as the output: VC(s) = I(s)
sC
sC VC(s) 1 𝐕𝐂(𝐬) 𝟏
∴ I(s) = sCVC(s) = =
V(s) 1
R + sL + sC 𝐕(𝐬) LCs² +RCs +𝟏
 Control Systems - Block Diagrams Dr. Khalid Hasan Masoud

- Block diagrams represent Input Output relationships.

r(t) y(t) R(s) Y(s)
ẋ = Ax(t)+By(t) G(s)
𝐘(𝐬)
y(t) = g(t)r(t) Y(s) = G(s)R(s) ∴G(s)=
𝐑(𝐬)

Block Diagram – Open Loop Control System

+ E(s) Y(s) 𝐘(𝐬)

R(s) Find
G(s) 𝐑(𝐬)
_
E(s)=R(s) – Y(s)H(s)
H(s)
Y(s)=G(s)E(s) = G(s)[R(s) –H(s) Y(s)]
Block Diagram - Closed Loop Control System
 Control Systems - Block Diagrams Dr. Khalid Hasan Masoud

Input Output relationships.

Block Diagram - Closed Loop Control System
𝐘(𝐬) + E(s) Y(s)
R(s)
Find G(s)
𝐑(𝐬)
_
E(s)=R(s) –Y(s) H(s)
H(s)
Y(s)= G(s) E(s) = G(s)[R(s) –Y(s)H(s)]
Y(s) = G(s)R(s) – G(s) Y(s) H(s) So, [1+G(s)H(s)]Y(s) = G(s)R(s)
𝐘(𝐬) 𝐆(𝐬)
∴ = = [𝟏 + 𝐆 𝐬 𝐇(𝐬) ]−1 G(s) System closed loop transfer function
𝐑(𝐬) 𝟏+𝐆 𝐬 𝐇(𝐬)

- Given that [𝟏 + 𝐆 𝐬 𝐇(𝐬)] is nonsingular

 Control Systems - Block Diagrams Dr. Khalid Hasan Masoud

Input Output relationships.

Block Diagram - Closed Loop Control System
𝐘(𝐬) + E(s) Y(s)
R(s)
Find G(s)
𝐑(𝐬)
_
E(s)=R(s) – Y(s)
Y(s)=G(s)E(s) = G(s)[R(s) –Y(s)]
Y(s) = G(s)R(s) – G(s)Y(s) So, [1+G(s)]Y(s) = G(s)R(s)
𝐘(𝐬) 𝐆(𝐬)
∴ = = [𝟏 + 𝐆 𝐬 ]−1 G(s) System closed loop transfer function
𝐑(𝐬) 𝟏+𝐆 𝐬

- Given that [𝟏 + 𝐆 𝐬 ] is nonsingular

 Control Systems Dr. Khalid Hasan Masoud

Review: Transfer function, Block diagram and Signal flow graph.