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Feedback Control Systems (FCS) : Lecture-3 & 4 Transfer Function and Stability of LTI Systems
Feedback Control Systems (FCS) : Lecture-3 & 4 Transfer Function and Stability of LTI Systems
Lecture-3 & 4
Transfer Function and stability of LTI systems
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Transfer Function
• Transfer Function is the ratio of Laplace transform of the
output to the Laplace transform of the input.
If u(t ) U (S ) and
y(t ) Y (S )
• Where is the Laplace operator.
2
Transfer Function
• Then the transfer function G(S) of the plant is given
as
Y (S )
G( S )
U (S )
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Why Laplace Transform?
• By use of Laplace transform we can convert many
common functions into algebraic function of complex
variable s.
• For example
sin t 2 2
s
Or
at 1
e
sa
• Where s is a complex variable (complex frequency) and is
given as
s j 4
Laplace Transform of Derivatives
• Not only common function can be converted into
simple algebraic expressions but calculus operations
can also be converted into algebraic expressions.
• For example
dx(t )
sX (S ) x(0)
dt
2
d x(t ) 2 dx(0)
2
s X (S ) x(0)
dt dt
5
Laplace Transform of Derivatives
• In general
n
d x(t ) n n 1 n 1
n
s X (S ) s x(0 ) x (0)
dt
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Example: RC Circuit
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Laplace Transform of Integrals
1
x(t )dt X (S )
s
8
Calculation of the Transfer Function
• Consider the following ODE where y(t) is input of the system
and x(t) is the output.
d 2 x(t ) dy(t ) dx(t )
A C B
• or dt 2 dt dt
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Calculation of the Transfer Function
As 2 X (s ) CsY (s ) BsX (s )
• Rearranging the above equation
As 2 X (s ) BsX (s ) CsY (s )
X (s )[As 2 Bs ] CsY (s )
X (s ) Cs C
Y (s ) As Bs As B
2
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Example
1. Find out the transfer function of the RC network shown in figure-1.
Assume that the capacitor is not initially charged.
Figure-1
2. u(t) and y(t) are the input and output respectively of a system defined by
following ODE. Determine the Transfer Function. Assume there is no any
energy stored in the system.
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Transfer Function
• In general
12
Transfer Function
• Otherwise ‘improper’
13
Transfer Function
• Transfer function helps us to check
system
14
Stability of Control System
• There are several meanings of stability, in general
there are two kinds of stability definitions in control
system study.
– Absolute Stability
– Relative Stability
15
Stability of Control System
16
Stability of Control System
17
Stability of Control System
• Poles is also defined as “it is the frequency at which
system becomes infinite”. Hence the name pole
where field is infinite.
18
Stability of Control System
• Poles is also defined as “it is the frequency at which
system becomes infinite”.
• Like a magnetic pole or black hole.
19
Relation b/w poles and zeros and frequency
response of the system
• The relationship between poles and zeros and the frequency
response of a system comes alive with this 3D pole-zero plot.
20
Relation b/w poles and zeros and frequency
response of the system
• 3D pole-zero plot
– System has 1 ‘zero’ and 2 ‘poles’.
21
Relation b/w poles and zeros and frequency
response of the system
22
Example
• Consider the Transfer function calculated in previous
slides.
X (s ) C
G( s )
Y (s ) As B
B
s
A
23
Examples
• Consider the following transfer functions.
– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system
s3 s
)i G(s ) )ii G(s )
s( s 2 ) (s 1)(s 2 )(s 3)
(s 3)2 s 2 (s 1)
)iii G( s ) )iv G(s )
s(s 2 10) s(s 10)
24
Stability of Control Systems
• The poles and zeros of the system are plotted in s-plane
to check the stability of the system.
j
LHP RHP
Recall s j
s-plane
25
Stability of Control Systems
• If all the poles of the system lie in left half plane the
system is said to be Stable.
• If any of the poles lie in right half plane the system is said
to be unstable.
• If pole(s) lie on imaginary axis the system is said to be
marginally stable. j
LHP RHP
s-plane
26
Stability of Control Systems
• For example
C
G(s ) , if A 1, B 3 and C 10
As B
• Then the only pole of the system lie at
pole 3
j
LHP RHP
X
-3
s-plane
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Examples
• Consider the following transfer functions.
Determine whether the transfer function is proper or improper
Calculate the Poles and zeros of the system
Determine the order of the system
Draw the pole-zero map
Determine the Stability of the system
s3 s
)i G(s ) )ii G(s )
s( s 2 ) (s 1)(s 2 )(s 3)
(s 3)2 s 2 (s 1)
)iii G( s ) )iv G(s )
s(s 2 10) s(s 10)
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