Transfer

Functions
Andrien Achilles O. Rosario
Andre Tabianan
Topics Covered
Transfer Function

Transfer Function Model

Linear-Time Invariant System

Transfer Function of Electrical

System

Transfer Function of Mechanical

 Transfer Function
In control engineering and control theory, the transfer function of a system is a very
common concept. A transfer function is determined using Laplace transform and plays
a vital role in the development of the automatic control systems theory.

A transfer function is defined as the ratio of the Laplace transform of a system’s

output to the input, assuming initial conditions are zero.
Transfer Function
Model
where:
R(S) = input
C(S) = output
G(S) = gain
T(S) = Transfer function
Why Laplace Transform?
 Transfer Function
A general Transfer function is on the form:
𝑦 ( 𝑠)
𝐻 ( 𝑠 )=
𝑢( 𝑠)
where: H(s) = Transfer Function
y = output
u = input
 Transfer Function
A general transfer function can be written on the following general form:

𝑚 𝑚− 1 𝑚− 2
𝑛𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟 ( 𝑠) 𝑏𝑚 𝑠 +𝑏𝑚 − 1 𝑠 + 𝑏𝑚 −2 𝑠 + …+𝑏1 𝑠+𝑏 0
𝐻 ( 𝑠 )= = 𝑛 𝑛 −1 𝑛− 2
𝑑𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟 ( 𝑠) 𝑎𝑛 𝑠 + 𝑎𝑛 −1 𝑠 +𝑎 𝑛 −2 𝑠 + …+ 𝑎1 𝑠 +𝑎 0

The Numerators of transfer function models describe the locations of the zeros of the
system.
Denominators of transfer function models describe the locations of the poles of the system.
 Transfer Function
Differentiation:
1. For Order Systems:
ẋ → sx ( s )
2. For higher order systems:
𝑛
𝑑 𝑥 (𝑡 ) 𝑛
𝑛
→ 𝑠 x ( s)
𝑑 𝑡
Integration:
1
∫ 𝑥 → 𝑠 𝑥(𝑠)
Example 1
Given the following differential equation of , find the following transfer function.

Given:

Solution:

ℒ [ ẋ ]=ℒ [− 0.5 𝑥 + 2 𝑢 ]
Laplace Transform gives:

𝑠𝑥 ( 𝑠 ) =− 0.5 𝑥 ( 𝑠 ) + 2 𝑢 (𝑠 )
𝑥 ( 𝑠 ) ( 𝑠 + 0.5 )= 2 𝑢 ( 𝑠 )
𝑥 ( 𝑠) 2 4 𝑥 (𝑠 ) 4
= = 𝐻 ( 𝑠 )= =
𝑢( 𝑠) 𝑠 + 0.5 2 𝑠+1 𝑢( 𝑠) 2 𝑠 +1
Example 2
Find the transfer function of the differential equation in 2nd order derivative expressed as

Given:
ÿ + ẏ + 5 𝑦 =5 𝑥
Solution:

ℒ [ ÿ + ẏ + 5 𝑦 ]=ℒ [ 5 𝑥 ]
Laplace Transform gives:

2
𝑠 𝑦 ( 𝑠 ) + 𝑠𝑦 ( 𝑠 ) +5 𝑦 ( 𝑠 )=5 𝑠𝑥( 𝑠 )
2
( )
𝑦 𝑠 ( 𝑠 + 𝑠 + 5 )= 5 𝑠𝑥 ( 𝑠 )
𝑦( 𝑠) 5𝑠
𝐻 ( 𝑠 )= = 2
𝑥 (𝑠 ) 𝑠 + 𝑠 +5
Example 3
From the given a transfer function below, find the differential equation.

Given:
𝑥 (𝑠 ) 3
𝐻 ( 𝑠 )= =
Solution: 𝑢( 𝑠) 0.5 𝑠 + 1
Simplifying:
𝑥 ( 𝑠 ) ( 0.5 𝑠 + 1 )=𝑢 ( 𝑠 )( 3 )
0 .5 𝑠𝑥 ( 𝑠 ) + 𝑥 ( 𝑠 ) =3 𝑢 (𝑠 )
Using Inverse Laplace:
ℒ [ 0.5 𝑠𝑥 ( 𝑠 ) + 𝑥 ( 𝑠 ) ]= ℒ
−1 −1
[3 𝑢(𝑠 )]
0.5 ẋ + 𝑥 =3 𝑢
Rearranging: ẋ = − 2 𝑥 +6 𝑢
Linear-Time Invariant System
Linear time-invariant systems (LTI systems) are a class of systems
used in signals and system that are both linear and time-
invariant.

• Linear systems are systems whose outputs for a linear

combination of inputs are the same as a linear combination of
individual responses to those inputs.

• Time-invariant systems are systems where the output does

not depend on when an input was applied.
Example 1
Calculate the output of the system in the time domain if its transfer function is given by
, and its input is given by X(s) = 12
Given:
X(s) =
Solution:

Taking the Inverse Laplace:

−8 𝑡
( )
𝑦 𝑡 =12 𝑒
Example 2
Find the output of the system in the time domain when the output H(s) = , and the input,
X(S) =
Given:
X(S) =
Solution:

ℒ
Taking the Inverse Laplace
− 1 −1 2 (5 ) 𝑠
[𝑌 ( 𝑠 ) ]=ℒ [ 2
]
( 𝑠 +5
2 2
)
𝑦 ( 𝑡 ) =𝑡𝑠𝑖𝑛 (5 𝑡 )
Example 3
Calculate the output of the system in the time domain if its transfer function is given by
, and its input is given by X(s) =
Given:
X(s) =
Solution:

ℒ
Taking the Inverse Laplace:
− 1
[𝑌 ( 𝑠 ) ]=ℒ
−1
[
1
30 ( 5!
𝑦6
𝑠 )
( 𝑡 )]=
1
30
𝑡
5
Transfer Function of
Electrical System
Electrical systems can be modeled mathematically using
transfer functions. These functions describe the
relationship between the input and output of a linear
time-invariant (LTI) system.

In electrical engineering, they are used to analyze the

behavior of electrical circuits under various conditions.
Here are some common types of transfer functions for
basic electrical components:
 Resistance (R)
The transfer function for a resistor is simply 1, as the output
voltage is equal to the input voltage regardless of the frequency.
This is because a resistor offers constant opposition to current
flow.

T(s) = Vout(s) / Vin(s) =

1
 Capacitance (C)
The transfer function for a capacitor depends on the frequency
(s) of the input signal. Capacitors offer lower reactance
(opposition to current flow) for higher frequencies and higher
reactance for lower frequencies. Therefore, the capacitor allows
easier passage of high-frequency AC signals and blocks low-
frequency AC signals.

T(s) = Vout(s) / Vin(s) = 1 / (sC)

 Inductance (L)
The transfer function for an inductor also depends on the
frequency of the input signal. Inductors offer lower reactance for
lower frequencies and higher reactance for higher frequencies.
Therefore, inductors allow easier passage of low-frequency AC
signals and block high-frequency AC signals.

T(s) = Vout(s) / Vin(s) = s L

 Gain (K)
A gain factor (K) can be multiplied by any transfer function to
scale the output. Gain refers to the amplification of a signal. A
gain of 1 indicates no change, a gain greater than 1 indicates
amplification, and a gain less than 1 indicates attenuation.

T(s) = K * (original transfer

function)
Ex. 01.) Electrical system
A RC Circuit having a resistor R and a capacitor C are connected
in series. The input voltage Vi (t) is applied across the series
combination of the resistor and capacitor, and the output voltage
Vo (t) is taken across the capacitor. Determine the transfer
function of the circuit.
Ex. 02.) Electrical system
A RC Circuit having a capacitor C and a resistor R are connected
in series. The input voltage Vi (t) is applied across the series
combination of the resistor and capacitor, and the output voltage
Vo (t) is taken across the capacitor. Determine the transfer
function of the circuit.
Ex. 03.) Electrical system
A circuit comprises three inductors (L1, L2, L3) and two
capacitors (C1, C2). The input voltage is Vi(t) and the output
voltage is Vo(t). The input voltage is applied across the three
inductors connected in series. Capacitor 1 & 2 connected in
parallel with the series combination of inductors 1, 2 & 3, Find
the following on what is ask: (a.) What is the order of the circuit?
and (b.) Find the Transfer function of the circuit.
 The order of the circuit
are 2.

note:
Order of the circuit
is equal to the total
number of effective energy
storing elements.
Transfer Function of
Mechanical System
Mechanical systems can also be modeled using transfer
functions, similar to electrical systems.

Mechanical systems obey Newton’s law; that the sum of

the forces equals zero or that the sum of the applied
forces must be equal to the sum of the reactive or
transmitted forces.
 Mechanical Translational Systems
Mechanical translational system is characterized by driving
source, which is Newtonian force and three passive, linear
components; mass, spring (stiffness) and damper (dissipation).

Mass and spring are energy-storage devices, whereas the

damper dissipates energy.
 Mechanical Translational Systems
1. Mass - The mass M is the inertial element and the displacements at both its
ends are the same. A force applied to a mass produces acceleration ‘a’ of
the mass.
𝑓 ( 𝑡 ) = 𝑀𝑎 ( 𝑡 )
2
Expressing in terms of 𝑑𝑣 (𝑡 )
displacement: 𝑑 𝑥 (𝑡 )
𝑓 (𝑡)=𝑀 =𝑀
𝑑𝑡 𝑑𝑡 2

2
Applying
𝐹 ( 𝑠
Laplace )=𝑀 𝑠
Transform 𝑋 (𝑆 )

𝐹 ( 𝑠) 2
𝑍𝑚 ( 𝑠) = = 𝑀 𝑠
𝑋 ( 𝑠)
 Mechanical Translational Systems
2. Damper - The damping D represents viscous fluid friction characterizes the
damper, element that absorbs and dissipates energy. This element has a
constructional feature of a housing filled with an incompressible fluid. The
damping force required to move the piston inside the housing is proportional
to the velocity.
 Mechanical Translational Systems
Damper:
𝑓 ( 𝑡 ) = 𝐷𝑣 ( 𝑡 )
Expressing in terms of displacement:
𝑑𝑥 ( 𝑡 )
𝑓 ( 𝑡 ) = 𝐷𝑣 ( 𝑡 ) = 𝐷
𝑑𝑡

Applying Laplace Transform

𝐹 ( 𝑠 ) = 𝐷𝑠𝑋 ( 𝑠 )

𝐹 ( 𝑠)
𝑍𝑚 ( 𝑠) = = 𝐷𝑠
𝑋 ( 𝑠)
 Mechanical Translational Systems
3. Spring - The component spring obeys Hooke’s law; thus if stretched, the
spring tries to contract; if compressed, it tries to expand to its normal length.
The stiffness, K provides the necessary restoring force. The reaction force on
each end of the spring is the same and is equal to the product of the stiffness
K and the amount of deformation (change in the length, governed by the end
displacement) of the spring.
 Mechanical Translational Systems
Spring:
𝑓 ( 𝑡 ) = 𝐾𝑥 ( 𝑡 )

Applying Laplace Transform

𝐹 ( 𝑠 ) = 𝐾𝑋 ( 𝑠 )

𝐹 ( 𝑠)
𝑍𝑚 ( 𝑠) = = 𝐾
𝑋 ( 𝑠)
Mechanical Translational Systems
 Mechanical Rotational Systems
The driving sources of the rotational mechanical systems and
translational mechanical system have the same effect that is to
cause motion, except that torque replaces force. The
components undergo rotation instead of translation and so
angular displacement replaces translational displacement and
translational velocity is replaced by angular velocity.

The parameters K, D, and J are called spring constant,

coefficient of viscous friction, and moment of inertia,
respectively.
 Mechanical Rotational Systems
1. Inertia - The torque applied to rotate an object with having moment of
inertia J will produce angular acceleration α that is:
𝑇 ( 𝑡 )= 𝐽 α (𝑡 )
Expressing in terms of angular displacement:
2
𝑑 𝜔 (𝑡 ) 𝑑 𝜃 (𝑡 )
𝑇 ( 𝑡 )= 𝐽 = 𝐽
𝑑𝑡 𝑑 𝑡 2

Applying Laplace Transform

2
𝑇 ( 𝑠) = 𝐽 𝑠 𝜃 ( 𝑠)

𝑇 ( 𝑠) 2
𝑍𝑚 ( 𝑠) = = 𝐽 𝑠
𝜃 ( 𝑠)
 Mechanical Rotational Systems
2. Damper - Damping occur whenever a body moves through a fluid, which
may be a liquid or a gas such as air. To produce motion of the body, a torque
must be applied to overcome the reaction damping torque that depends on
the viscous friction coefficient D. The torque acting on the damper will produce
an angular displacement θ(t) at the end where the torque is applied.
 Mechanical Translational Systems
Damper:
𝑇 ( 𝑡 )= 𝐷 𝜔 ( 𝑡 )
Expressing in terms of angular displacement:
𝑑 𝜃 (𝑡 )
𝑇 ( 𝑡 )= 𝐷 𝜔 ( 𝑡 ) = 𝐷
𝑑𝑡

Applying Laplace Transform

𝑇 ( 𝑠 ) = 𝐷𝑠 𝜃 ( 𝑠 )

𝑇 ( 𝑠)
𝑍𝑚 ( 𝑠) = = 𝐷𝑠
𝜃 ( 𝑠)
 Mechanical Rotational Systems
3. Spring - This component represents the torsion created in a rotating body
such as shaft. In case when one end of the spring is connected to the
reference with zero angular displacement, then the only displacement θ(t) will
take place at the end where torque is applied, so that:
 Mechanical Translational Systems
Spring:
𝑇 ( 𝑡 )= 𝐾 𝜃 (𝑡 )

Applying Laplace Transform

𝑇 ( 𝑠) = 𝐾 𝜃 ( 𝑠)

𝑇 ( 𝑠)
𝑍𝑚 ( 𝑠) = =𝐾
𝜃 ( 𝑠)
Rotational Systems
Example 1
Find the transfer function of a mechanical translational system where an
object (mass) of 1 kg is connected to a spring with a spring constant of 110
N/m and the other end of the spring is connected to a reference.
Example 1
Example 2
Find the transfer function of a mechanical translational system where an
object (mass) of 2 kg is connected to a spring with a spring constant of 100
N/m and also connected by a damper with a damping coefficient of 5Ns/m.
Example 2
Example 3
A mechanical rotational system with a inertia of 0.5kg is connected to a
spring with a rotational spring constant of 150 Nm/ rad. Find the transfer
function.
Example 3
Example 4
A mechanical rotational system with a inertia of 0.01 kg is connected to a
spring with a rotational spring constant of 1 Nm/ rad. The spring is in parallel
with a damper with a rotational damping coefficient of 0.1 Nms/rad. Find the
transfer function of the system.
Example 4
 References
https://www.youtube.com/watch?v=KYj4JsGi9sc&t=177s
https://www.slideshare.net/tendeo/control-chap2
https://www.youtube.com/watch?v=yvfpHA_4_bo
https://www.youtube.com/watch?v=tWQubGjDY48
https://www.electrical4u.com/transfer-function/
https://study.com/academy/lesson/voltage-divider-circuit-rule-bias-formula.html#:~:text=The%20
voltage%20divider%20formula%20for%20a%20two%20resistor%20voltage%20divider,subsequen
t%20voltage%20drops%20to%200
.
https://brilliant.org/wiki/linear-time-invariant-systems/#:~:text=Linear%20time%2Dinvariant
%20systems%20(LTI,individual%20responses%20to%20those%20inputs.
 References
https://brilliant.org/wiki/linear-time-invariant-systems/#:~:text=Linear%20time%2Dinvariant
%20systems%20(LTI,individual%20responses%20to%20those%20inputs.

https://youtu.be/6c2Uo97AQac
Thank you!