Transfer Functions

&
Block Diagrams
 The TRANSFER FUNCTION
of an input-output differential equation
is the ratio
Definition of the Laplace Transform of the output variable
over
the Laplace Transform of the input variable
with all initial conditions set to zero.
Example: Output Input

5 ⋅ &y&&(t ) + y (t ) = f (t ) Laplace Transf.

5 ⋅ s 3Y (s ) + Y (s ) = F (s )
with zero ICs

Y (s ) 1
Transfer function: =
F (s ) 5 ⋅ s 3 + 1
Example: Given the following transfer function, find the
corresponding input-output differential equation.

X (s ) s +1
=
U (s ) s 2 + s + 4

Solution: Expand the above equation and perform an

inverse Laplace Transform:

s122
⋅3
X + s{
⋅ X + 4⋅{
X = s{
⋅U + U
{

&x& + x& + 4 ⋅ x = u& + u

 Complex Dynamical Systems are often analyzed by
combining the Transfer Functions of individual components
by means of
BLOCK DIAGRAMS

input output
U(s) G(s) X(s)

X(s) = G(s) U(s)

X (s )
= G (s )
or Transfer
U (s ) Function
 BLOCK DIAGRAM RULES
Summing Junctions

X(s)
-
+ Z(s) = Y(s) - X(s) - Q(s) + R(s)
Y(s) Z(s)
- +
Q(s) R(s)

Branching

X(s)
Y(s) X(s) = Y(s)
V(s) = Y(s)
V(s)
 BASIC BLOCK DIAGRAM SIMPLIFICATIONS

Basic Series u(s) x(s) v(s)

Connection G(s) F(s)

Downstream Block: v(s) = [F(s)] x(s)

substitute
Upstream Block: x(s) = [G(s)] u(s)

Result: v(s) = [G(s) F(s)] u(s)

Simplified u(s) F(s) G(s) v(s)

Block Diagram
BASIC BLOCK DIAGRAM SIMPLIFICATIONS

Basic Parallel r(s) A(s) y(s)

r x +
Connection +

r B(s) z

Start by labeling all the arrows that are not labeled

Define an equation for the output: y = x + z = A r + B r
need “x” and “z”
Fill in for the unknowns: x = A r
z=Br
Substitute backwards starting
from the last equation to obtain: y = (A + B) r

r(s) A(s) + B(s) y(s)

 BASIC BLOCK DIAGRAM SIMPLIFICATIONS

Basic Feedback r(s) a

G(s) x(s)
Arrangement +
-
b x
H(s)

Start by labeling all the arrows that are not labeled

Define an equation for the output: x = G a = G (r - H x)
need “a”
Fill in for the unknowns: a = r - b = r - H x
need “b”
b=Hx
Substitute backwards starting
from the last equation to obtain: x = G (r - H x)
⎡ G ⎤ G(s)
Solve for x: x=⎢ ⎥ ⋅r r(s) x(s)
⎣1 + H ⋅ G ⎦ 1+ H(s) ⋅ G(s)