Transfer Function of Physical Systems

1. Write all the time-domain equations.

Example:

Time-domain equations are:

di a ( t )
vin(t) = Raia(t) + La +eb(t) (1) vb(t) = Kb(t) (2) T(t) = Ktia(t) (3)
dt

d 2 d d
T( t )  J D (4) ( t )  (5)
dt 2 dt dt

vin(t) is the applied voltage, Kb is the back-emf constant of the motor, Kt is the torque constant of the
motor, J is the polar MI of the armature and D is the damping coefficient.

2. Take Laplace transform and write the s-domain equations

Vin(s) = (Ra+ sLa) Ia(s)+ Vb(s) (6) Vb(s) = Kb(s) (7) T(s) = Kt Ia(s) (8)
T(s) = (Js2+Ds) (s) (9) (s) = s(s) (10)
Method 1: Reduce the equations algebraically eliminating all the variables except the output C(s) and
C(s) (s)
the input R(s) to yield the desired transfer function T(s)  ; in this example, T(s) 
R (s) Vin (s)

T (s )
From equations (6), (7), and (8), Vin(s) = (Ra+ sLa) + Kb(s)
Kt

(Js 2  Ds )(s)
Substituting equations (9) and (10), Vin(s) = (Ra+ sLa) + Kbs(s)
Kt

(s) Kt
Simplifying, T(s)  
Vin (s) JL s 3  (JR  DL )s 2  (DR  K K )s
a a a a t b

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Method 2: Arrange the equations so that the right-hand side of each equation is either 0 or the input
variable. Now, arrange them in matrix form, Ax = B, where vector x consists of all the variables
except the input variable. Solve for the output variable.
(Ra+ sLa) Ia(s)+ Vb(s) = Vin(s) From (6)
Eb(s)-Kb(s) =0 From (7)
T(s)-KtIa(s) = 0 From (8)
T(s)-(Js2+Ds)(s) = 0 From (9)
  (s)-s(s) = 0 From (10)
In matrix form:
 Ra  sLa 1 0 0 0   I a ( s)  Vin ( s )
 0 1  Kb 0 0  V ( s )  0 
  b   
  Kt 0 0 1 0    (s)    0 
    
 0 0 0 1  ( Js 2  Ds)  T ( s)   0 
 0 0 1 0 s    ( s)   0 

Solve for (s) using either Cramer’s rule or matrix inversion.

Method 3: Arrange the equations in “effect-cause(s)” relation form starting with the “effect” caused
by the input variable (and may be other variables).
Vin (s)  Vb (s)
“Effect-cause” relations are: I a (s) 
Ra  sLa

T (s) = Kt Ia(s)
T(s)
(s) 
Js 2  Ds

(s) = s(s)
Vb(s) = Kb(s)

Draw the signal flow graph starting with the input node Vin(s); introduce the node Eb(s), form Ia(s)
and proceed to complete. Since (s) is the output node, a gain of 1 may be introduced as shown to
clearly show the output node.

(s)
1 1 1
Vin(s) Kt
Ra  sLa Js2  Ds s Kb
Vb(s
)
1 Ia(s) T(s) (s)
-1

Signal flow reduction should yield the same answer.

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 Note that the block diagram can be obtained by introducing blocks with gains inside in each branch
and replacing the nodes by either summers or pick-off points.

Method 4: State Space Technique: (Time-domain method)

Assign state variables to the system. Here, they are:
d
x1 = ia(t), x2 = (t), and x3 =
dt

Find the derivatives of these variables from the time-domain equations (1) through (5).
di a 1 d
From equations (1), (2), and (5),  ( v in ( t )  R a i a ( t )  K b )
dt La dt

dx1 R K 1
In terms of state variables,   a x1  b x 3  v in ( t ) (11)
dt La La La

d 2 Kt D d
From equations (4) and (3),  i a (t ) 
dt 2 J J dt

dx 3 K t D
In terms of state variables,  x1  x 3 (12)
dt J J
dx 2
Also,  x3 (13)
dt

Output equation is y(t) = (t) or y(t) = x2 (14)

 Ra Kb   1 
 L 0 
L a  L 

B   0 
a a
The matrices are: A   0 0 1   C  0 1 0 and D  0
 Kt 0  
D  0 
 J J  
   

Transfer function H(s) = C(sI-A)-1B+D yields the same transfer function.

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