2.

8 TF of automatic control system

Transfer function
of the prototype element of linear system
A linear system can be regarded as the composing
of several prototype elements, which are:
1.Proportioning element

c(t ) kr(t )

Differential equation

Transfer function G s

Block diagram

C ( s)
K
R( s )

R
K

Examples:amplifier, gear train, tachometer

Transfer function
of the prototype element of linear system
2.Integrating element
Differential equation
t

c(t ) r (t )dt

Transfer function

Transfer function

C ( s) 1

R( s ) s

Block diagram

Differential equation
dr (t )
c(t )
dt

Gs

3.Differentiating element

Gs

C ( s)
s
R( s )

Block diagram

s
Examples:Integrating circuit,
integrating motor, integrating wheel

R
s

Examples: differentiating amplifier,

differential valve,

Transfer function
of the prototype element of linear system
4.Inertial element
Differential equation
dc(t )
T
c(t ) r (t )
dt

Transfer function

5. Oscillating element
Differential equation
d 2c(t )
dc(t )
2
2

c
(
t
)

n
n
n r (t )
2
dt
dt

Transfer function
C(s )
2
G s
2
R(s ) s 2ns n2

C ( s)
1
Gs

R( s) Ts 1

Block diagram

1
Ts 1

Block diagram

2
s 2 2ns n2

Examples: oscillator, oscillating table,

Examples: inertia wheel,
oscillating circuit
inertial load (such as temperature system)

Transfer function
of the prototype element of linear system
6.Delay element
c(t ) kr(t )

Differential equation

C ( s)
G( s)
kes
R( s )

Transfer function

Block diagram

ke s

Examples:gap effect of gear mechanism,

threshold voltage of transistors

The Unit Impulse Function

(t )

(t ) 0 (t 0),

(t )dt (t )dt 1
0

L (t ) (t )e dt (t )dt 1

st

The Impulse Response

Consider that a linear time-invariant system has
the input u(t) and output y(t). The system can be
characterized by its impulse response g(t), which is
defined as the output when the input is a unit impulse
function (t ) .
G(s)

u (t )

u(t ) (t )

y (t )

U ( s) 1

Y (s) G(s)U (s)

Y ( s ) G( s )

y(t ) L-1 {Y (s)} L-1 {G(s)} g (t )

The Impulse Response

Once the impulse response of a linear system is
known, the output of the system y(t), with any input,
u(t), can be found.

u (t )

G(s)

Y (s) G(s)U (s)

y (t )

y(t ) L {Y ( s)} g ( )u (t )d
-1

Multiple Inputs
We use the method of superposition in modeling a multi-input system
Superposition: For linear system, the overall response of the
system under multi-inputs is the summation of the responses due to
the individual inputs.

Step 1: Set all but one input to zero.

Step 2: By rearranging the block diagram if necessary, determine the

transfer function from the single nonzero input to the output.

Step 3:Repeat step 2 for all inputs.

Step 4: Find all outputs.

Step 5: Add all outputs together to obtain the overall output to all
inputs.

Transfer Functions of
Automatic Control System
Typical form of closed-loop system:

N
R

E
G1 s

G2 s

H s

1. Open-loop transfer function

G1 s G2 s H s is called open-loop transfer function

E s

We can obtain B s

G1 s G 2 s H s

NOTE:Open-loop transfer function is not equal to the transfer function

of open-loop system.

Transfer Functions of
Automatic Control System
2. Transfer function with input r(t)
Let nt 0
N

E
G s
1
B

G2 s

G1 s

H s

The transfer function is

R s

C s R s R s

C s
R s

G2 s
H s

G1 s G2 s

1 G1 s G2 s H s

G1 s G 2 s

1 G1 s G 2 s H s
C (s )/ R (s )

R(s )

Transfer Functions of
Automatic Control System
3. Transfer function with input n(t)
Let r t 0
N

a R

E
G1 s

G2 s
H s

The transfer function is

G2 s
G1 s

C s
G2 s
n s

N s 1 G1 s G2 s H s

G2 s
C s n s N s
N s
1 G1 s G2 s H s

H s

Transfer Functions of
Automatic Control System
4. The overall output with input r(t) and n(t)
Superposition: For linear systems, the overall response of the
system under multi-inputs is the summation of the responses due to
the individual inputs.

C s R s Rs N s N s
G1 s G2 s
G2 s

Rs
N s
1 G1 s G2 s H s
1 G1 s G2 s H s

Observation:
C(s)/R(s) and C(s)/D(s) have the same denominators.

Transfer Functions of
Automatic Control System
5. The transfer function of error of closed-loop system

a R

Where

E
G1 s

G2 s

H s

er s

E s
1

Rs 1 G1 s G2 s H s

en s

{N(s) 0}

G2 s H s
E s

{R(s) 0}
N s 1 G1 s G2 s H s

Transfer Functions of
Automatic Control System
Where

E s
1
er s

Rs 1 G1 s G2 s H s
en s

{N(s) 0}

G2 s H s
E s

{R(s) 0}
N s 1 G1 s G2 s H s

Observation:
C(s)/R(s) , C(s)/D(s) ,E(s)/R(s) and E(s)/D(s)
all have the same denominators.
According to the theory of linearity superposition, The
overall error with input r(t) and n(t) are:

Es er s Rs en s N s

Example:
Find C(s)/R(s) , C(s)/N1(s) , C(s)/N2(s), C(s)/N3(s) and
E(s)/R(s) , E(s)/N1(s) , E(s)/N2(s), E(s)/N3(s) .
The error definition: E(s)=R(s)-C(s)

N 2 ( s)

N 3 ( s)

R N1

G_1

G2

G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

1.Suppose

n1 (t ) n2 (t ) n3 (t ) 0

G2

Find C ( s) / R( s)

L1 G2 , L2 G1G2G3
1 ( L1 L2 ) 1 G2 G1G2G3
P1 G1G2G3

, P2 G2G3

1 2 1
C ( s) P11 P2 2 G2G3 G1G2G3

R( s )

1 G2 G1G2G3

G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

2.Suppose

r (t ) n2 (t ) n3 (t ) 0

Easy to find

G2

Find C ( s) / N1 ( s)

C ( s) C ( s) G2G3 G1G2G3

N1 ( s) R( s) 1 G2 G1G2G3

G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

3.Suppose

r (t ) n1 (t ) n3 (t ) 0

G2

Find C ( s) / N ( s)
2

L1 G2 , L2 G1G2G3
1 ( L1 L2 ) 1 G2 G1G2G3
P1 G3

1 1 G2
G3 G2G3
C ( s) P11

N 2 ( s)

1 G2 G1G2G3

G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

4.Suppose

r (t ) n1 (t ) n2 (t ) 0

Find directly

C ( s)
1
N3 ( s)

G2

Find C ( s) / N3 ( s)

G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

G3

5.Suppose

G2

n1 (t ) n2 (t ) n3 (t ) 0

Find

Known the error definition: E(s)=R(s)-C(s) and

E ( s ) / R( s )
C ( s) G2G3 G1G2G3

R( s) 1 G2 G1G2G3

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

1
R( s)
R( s)
R( s)
G G G1G2G3
1 2 3
1 G2 G1G2G3

1 G2 G2G3
1 G2 G1G2G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

G3

6.Suppose

G2

r (t ) n2 (t ) n3 (t ) 0

Find E ( s) / N ( s)
1

Known the error definition: E(s)=R(s)-C(s) and

C ( s) G2G3 G1G2G3

N1 ( s) 1 G2 G1G2G3

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

N1 ( s)
N1 ( s)
N1 ( s)

G2G3 G1G2G3
1 G2 G1G2G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

G3

7.Suppose

G2

r (t ) n1 (t ) n3 (t ) 0

Find E ( s) / N ( s)
2

Known the error definition: E(s)=R(s)-C(s) and

G3 G2G3
C (s)

N 2 ( s) 1 G2 G1G2G3

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

N 2 ( s)
N 2 ( s)
N 2 ( s)

G3 G2G3
1 G2 G1G2G3

C(s)

Example:
N 2 ( s)

N 3 ( s)

R N1

G_1

8.Suppose

r (t ) n1 (t ) n2 (t ) 0

G2

Find E ( s) / N ( s)
3

Known the error definition: E(s)=R(s)-C(s) and

C ( s)
1
N3 ( s)

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

1
N3 ( s )
N3 ( s)
N3 ( s)

G3

C(s)