Control Systems

Unit 2: Transfer Function Analysis and Reduction Techniques

Unit 2: Transfer Function and Block Diagram Analysis

Content:
S.No.
1
2
3
4
5
6
7
8
9
10

Concept
Learning Objectives
Impulse Response and Transfer Function
Impulse Response and Transfer Function
Assumptions and Limitations of Transfer Function
Assumptions and Limitations
Examples
Block Diagrams
Block Diagrams
Block Diagram of a Closed Loop System
Block Diagram of a Closed Loop System

11

Block Diagram Reduction Rules

12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

Block Diagram Reduction Rules

Examples
Multi Input Multi Output Systems
Multi Input Multi Output Systems
Examples
Keywords to Remember
Keywords to Remember
Summary
Summary
Solved Problems
Solved Problems
Review Questions
Review Questions
Match the following
Match the following - I
Match the following - II
True or False
True or False
Drag and Drop
Drag and Drop
Model Questions

Page No.

33
34
35
36
37

Model Questions
Exercises
Exercises
Assignments
Assignments

Concept
Title
Content

Learning Objectives
Instruction to
aniamtor

By the completion of this unit the learner will able to

Understand the impulse response of a system

Understand the transfer function for linear time invariant

systems

Know the procedure for deriving transfer function

Determine the block diagram of a given system

Understand Multi Input Multi Output Systems

Display the
points one by
one

Graphics

Concept
Title:
Content

Assumptions and Limitations of Transfer Function

Assumptions and Limitations
Instruction to
Graphics
animator

Assumptions for Deriving Transfer Function

The following assumptions are made in deriving transfer
functions of physical systems.
1. It is assumed that there is no loading, i.e., no power is
drawn at the output of the system.
2. If the system has more than one non loading element in
tandem, then the transfer function of each element can be
determined independently and the overall transfer function
of the physical system is determined by multiplying the
individual transfer functions.
3. The system should be approximated by a linear lumped
constant parameters model by making suitable
assumptions.
Limitations:
1. Transfer function is considered only for the system
which does not possess any initial conditions i.e., when
initial conditions are zero.
2. It is applicable to only linear time invariant systems.
3. It does not give any information about the structure of
the system.
4. External conditions lose its importance, as initial
conditions are taken zero.

Concept:
Title:
Content

Assumptions and Limitations of Transfer Function

Examples
Instruction
to animator

Graphics

Examples:
1. Armature Control of DC motor
Consider the armature - controlled d.c. motor as shown in the
figure

Insert fig. 1
below 1st line
1st example

The transfer function of the armature controlled d.c. motor is

G(s)

KT
(s)

E a (s) s R a sL a Js fo K T K b

In this system,

R a = resistance of armature ()
L a = inductance of armature winding (H)
ia = armature current (A)
if = field current (A)
e a = applied armature voltage (V)
eb = back e.m.f (volts)
TM = torque developed by motor (Nm)
= angular displacement of motor - shaft (rad)
J = equivalent moment of inertia of motor and load referred to
motor shaft (kg-m2).
fo = equivalent viscous friction coefficient of motor and load

Nm
.
rad/s

referred to motor shaft

We know that, in linear range of the magnetization curve

Fig. 1

 if

K f if
(1)
K
where
f is a constant.
The torque TM developed by the motor is proportional to the
product of the armature current and air gap flux, i.e.,

TM ia TM K 1 ia TM K1K f i f ia . (2)
where K 1 is a constant.
In the armature controlled DC motor, the field current is kept
constant.

TM K T ia
(3)
K
where
T is known as motor torque constant.
P
ZN

60
A

The back e.m.f of the DC motor is given by e

d
d
e Kb
(4)
dt
dt
where K b is the back emf constant.
e

By applying KVL in the armature loop

La

dia
R aia eb e a
dt

(5)

The torque equation is

J

d2
dt

fo

d
TM K T ia
dt

(6)

Taking the Laplace transforms of eqns. (3) to (6), assuming zero

initial conditions, we get

Eb (s) K b s(s)

.. (7)

(L as R a )I a (s) E a (s) Eb (s) . (8)

(Js 2 fo s)(s) TM (s) K T I a (s) (9)

From the above equations, the transfer function of the system is

obtained as

G(s)

KT
(s)

E a (s) s R a sL a Js fo K T K b

2. Field Control of DC motor

Consider a field - controlled d.c. motor as shown in the figure
The transfer function of the field controlled d.c. motor is

K 'T
Km
(s)

E f (s) s(L f s R f )(Js f ) s( f s 1)( me s 1)

Where K m

K 'T
= motor gain constant;
Rff

Lf
= time constant of field circuit;
Rf

me

J
= mechanical time constant.
f

In the field controlled motor, the armature current is fed from a

constant current source.

TM K1K f i f ia

TM K 'T i f

Where K 'T is a constant.

Apply KVL in filed loop, we get

Fig. 2
Insert fig. 2
below 1st line
2nd example

e f R f if L f

di f
dt

The torque equation is

J

d2
2

fo

d
TM K 'T ia
dt

dt
Taking the Laplace transform of above eqns. Assuming zero initial
conditions, we get

(L f s R f )I f (s) E f (s)

(Js 2 fs)(s) TM (s) K 'T I f (s)

From the above equations the transfer function of the motor is

obtained as

K 'T
Km
(s)

Ef (s) s(L f s R f )(Js f ) s( f s 1)(mes 1)

Lf
K 'T
= motor gain constant; f
= time
Rf
Rff
J
constant of field circuit; me
= mechanical time constant.
f
Where K m

3. Find the transfer function for the system shown in figure.

where, M is the mass of the system
K is the spring deflection
B is the coefficient of viscous damping

Solution:
Consider the free body diagram of the given system
Let fk be the force acting due to spring constant K.

Insert fig.
q3.1 below q3

Insert fig.
q3.2 below 1st
line of solution

fb be the force due to damping

fm be the force due to mass (M) element.
Force due to mass, M is fm1 M

d2 X
dt 2

Fig. q3.1

dX
Force due to friction, fb B
dt
f
Force due to elastic spring, k KX
By Newtons second law,
Force f(t) = Sum of individual forces acting on the system.

f(t) fm fb fk
f(t) M

d2 X

Fig. q3.2

dX
B
KX
dt

dt 2
Apply Laplace transform to the above equation
F(s) M.s 2 X(s) B.s.X(s) K.X(s)
F(s) (M.s 2 B.s K)X(s)

The required transfer function

X(s)
1

2
F(s)
M.s B.s K

Concept:
Title:

Block Diagrams
Block Diagrams
Content

Block Diagrams
A block diagram of a system is a pictorial representation
of the functions performed by each component and of
the flow of signals.

Instruction to
Animator
Insert fig. 1 below
2nd paragraph

In general, a block diagram consists of a specific

configuration of four types of elements:

Blocks
Summing points
Takeoff points
Arrows representing unidirectional signal flow.

Block: The functional block or simply block is a symbol for

the mathematical operation on the input signal to the block
to produces the output.
Summing point: Summing points are used to add two or
more signals in the system. The plus or minus sign at each
arrowhead indicates whether the signal is to be added or
subtracted.
Takeoff point / Branch Point: A branch point is a point
from which the signal from a block concurrently to other
blocks or summing points.

Graphics

Fig. 1
Design fig such that
by clicking on the
heading block,
summing point,
takeoff point the
corresponding
matter will come in
the figure.

Concept:
Title
Content

Block Diagrams
Example

1. Represent the armature controlled DC motor in Block

diagram
Answer:

(L as R a )I a (s) E a (s) Eb (s)

Instruction to
Animator
Insert fig. 1 below
Block diagram
representation of
armature
controlled DC
motor is,

Graphics

1q

Tm (s) K T I a (s)
(Js 2 fo s)(s) Tm (s) (Js fo ) (s) Tm (s)

1
(s) (s)
s
Eb (s) K b s(s) Eb (s) K b (s)

The armature controlled DC motor transfer function is given

by

G(s)

KT
(s)

E a (s) s R a sL a Js fo K T K b

Block diagram representation of armature controlled DC

motor is,

2. Represent the field controlled DC motor in Block diagram

form

Insert fig. 2 below

Block diagram
representation of
field controlled DC
motor is,

Fig. 1

Answer:
Tm (s) K 'T I f (s)
(Js 2 fs)(s) Tm (s) (Js fo ) (s) Tm (s)

(L f s R f )I f (s) E f (s)
The field controlled DC motor transfer function is given by

K 'T
Km
(s)

E f (s) s(L f s R f )(Js f ) s( f s 1)( me s 1)

Block diagram representation of field controlled DC motor is,

Q2

Concept:
Title

Block Diagram of a Closed Loop System

Block Diagram of a Closed Loop System
Content
Instruction to
Animator

The figure shows the block diagram of a negative feedback

system.
The following terminology is defined with reference to diagram.

Graphics

Insert fig. 1
above 1st
paragraph.

r(t), R(s) = Reference input (command)

y(t), Y(s) = C(s) = Output (controlled variable)
b(t), B(s) = Feedback signal
Fig. 1

u(t), U(s) = Actuating signal = error signal e(t), E(s), when

H(s) = 1
H(s) = Feedback transfer function
G(s)H(s) = L(s) = B(s)/E(s) = Loop transfer function
G(s) = C(s)/E(s) = Forward - Path transfer function
T(s) = C(s)/R(s) = Closed - loop transfer function.
The closed - loop transfer function T(s) can be expressed as a
function of G(s) and H(s)
From the figure shown, we write
Y(s) = G(s) U(s)
and

. (1)

Insert fig. 1 here

also

B(s) = H(s) Y(s)

. (2)

The actuating signal is written,

U(s) = R(s) - B(s) (3)

Substituting eq. (3) into eq. (1) yields

Y(s) = G(s)R(s) - G(s)B(s) (4)
Substituting eq. (2) into eq. (4) and then solving for Y(s)/R(s)
gives the closed loop transfer function:

T(s)

Y(s)
G(s)

R(s) 1 G(s)H(s)

The characteristic equation of the above system is

1 G(s)H(s) 0

Concept:
Title
Content

Block Diagram Reduction Rules

Block Diagram Reduction Rules

A complex block diagram configuration can be simplified by certain

rearrangements of block diagram using the rules of block diagram
algebra.

Some of the important rules are given in the table shown

Instruction
to
Animator

Graphics

Concept:
Title

Block Diagram Reduction Rules

Examples
Content

Instruction to
Animator

Graphics

1. Reduce the block diagram of the figure shown

Solution:
Step1: Move the branch point after the block
Step 2: Eliminate the feedback path and combine blocks in
cascade.
Step 3: Combing parallel blocks

Fig. 1.0

Step 4: Combining blocks in cascade

C G1

R 1 G1H

G
G G G3
G2 3 1 2
G1
1 G1H

Fig. 1.1

Fig. 1.2

Fig. 1.3

Fig. 1.4

Fig. 1.5

Concept:
Title

Multi Input Multi Output Systems

Multi Input Multi Output Systems
Content
Instruction to
Animator

When multiple inputs are present in a linear system, each

input can be treated independently of the others.

Complete output of the system can then be obtained by

superposition, i.e., outputs corresponding to each input
along are added together.

Consider a two-input linear system shown in the figure.

The response to the input R1(s) can be obtained by assuming

R2(s) = 0. The corresponding block diagram is

Insert fig.1
below the
statement
Consider a
two-input
linear system
shown in
below figure
Insert fig. 2
above eqn.
CR1(s).

Insert fig. 3
above eqn.
CR2(s).

CR1(s) Output due to R1(s) acting alone

G1(s).G2(s)
R1(s)
1 G1(s).G2(s).H(s)

The response to the input R2(s) can be obtained by assuming

R1(s) = 0. The corresponding block diagram is

Graphics

CR2(s) Output due to R2(s) acting alone

G2(s)
R2(s)
1 G1(s).G2(s).H(s)

The response to the simultaneous application of R(s) and U(s)

can be obtained by adding the two individual responses.

C (s) C1(s) C2 (s)

G2(s)
G1(s).R1(s) R2(s)
1 G1(s).G2(s).H(s)

In case of MIMO system with r inputs and m outputs shown

in the figure, the ith output Ci(s) is given by
r

C i (s)

Gij (s)R j (s);

i 1,2,....m

j 1

where R j (s) is the jth input and Gij (s) is the transfer function
between the ith output and jth input with all the other inputs
reduced to zero.
From the figure shown,

Insert fig. 4
above the eqn.
Ci(s).
Fig.4

 C1(s)
G11(s) G12(s) .... G1r (s)

C2 (s) G21(s) G22 (s) .... G2r (s)

:
:
:
:

Gmr (s)
Cm(s)
Gm1(s) Gm2(s)

R1(s)

R2 (s)
:

Rr (s)

This can be expressed in compressed matrix notation as

C(s) = G(s)R(s)
Where R(s) = input vector (r x1)
G(s) = transfer function matrix ( m x r)
C(s) = output vector (m x1)
The block diagram of the open loop MIMO system is

The block diagram of the closed loop MIMO system is

The transfer function of the closed loop MIMO system is given

by,
T(s) = C(s)/R(s) = G(s)[I + G(s)H(s)]-1

Insert fig. 5
below the
statement
open loop
MIMO system
is shown
below
Insert fig. 6
below the
statement
closed loop
MIMO system
is shown
below

Concept:
Title

Multi Input Multi Output Systems

Examples
Content

Instruction to
Animator

Graphics

Example:
1. For the system represented by block diagram shown,
determine the output C1/R1 and C2/R1.
Solution:
Case(i): To find C1/R1

Fig. 1.0

In this case set R2 = 0 and consider only one output C1

Step1: Eliminating the feedback path
Fig. 1.1.1
Step2: Combining the blocks in cascade and splitting the
summing point.
Step3: Eliminating the feedback path

Fig. 1.1.2

Step4: Combining the blocks in cascade

Step5: Eliminating the feedback path
Step6: Combining the blocks in cascade

Fig. 1.1.3

Therefore,

C1
G1G 2 G3 (1 G4 )

R1 (1 G4 ) G1G4 G5 H 1 H 2 G1G 2 (1 G4 )

Case (ii): To find C2/R1

In this case set R2 = 0 and consider only one output C2.

Fig. 1.1.4

Step1: Eliminating the feedback path

Step2: Combining the blocks in cascade and splitting the
summing point.

Fig. 1.1.5

Step3: Eliminating the feedback path

Fig. 1.1.6
Step4: Combining the blocks in cascade
Step5: Eliminating the feedback path

Fig. 1.1.7

Step6: Combining the blocks in cascade

Therefore,

C2
G1G4G5G6H2

R1 (1 G4 )(1 G1G2 ) G1G4G5H1H2

Fig. 1.2.1

Fig. 1.2.2

Fig. 1.2.3

Fig. 1.2.4

Fig. 1.2.5

Fig. 1.2.6

Fig. 1.2.7

Concept:
Title
Content

Keywords to Remember
Keywords to Remember

Impulse response

Transfer function

Block diagrams

Blocks

Summing point

Takeoff point/ Branch point

Characteristic equation

Instruction
to Animator

Graphics

Concept:
Title
Content

Summary
Summary

The transfer function of a linear time - invariant system is

defined as the ratio of the Laplace transform of the output
variable to the Laplace transform of the input variable under
the assumption that all initial conditions are zero.
The transfer function of a linear time - invariant system is
defined as the Laplace transform of the impulse response, with
all the initial conditions set to zero.
Transfer function is considered only for the system which does
not possess any initial conditions i.e., when initial conditions
are zero.
Transfer function is applicable to only linear time invariant
systems.
Transfer function does not give any information about the
structure of the system.
A block diagram of a system is a pictorial representation of the
functions performed by each component and of the flow of
signals.
In general, a block diagram consists of a specific configuration
of four types of elements:

Blocks
Summing points
Takeoff points
Arrows representing unidirectional signal flow.

Block is a symbol for the mathematical operation on the input

signal to the block to produces the output.

Instruction
to Animator

Graphics

 Summing points are used to add or subtract two or more

signals in the system.
A branch point is a point from which the signal from a block
concurrently to other blocks or summing points.
The characteristic equation of the closed loop system

G (s)
1 G ( s ) H ( s ) is 1 G ( s) H ( s ) 0

Concept:
Title

Solved Problems
Solved Problems
Content

Instruction to
Animator

Graphics

1. Reduce the block diagram shown in the figure and find its
transfer function.
Solution:
Step1: Moving takeoff point before the block

Step2: Combining blocks in cascade

Fig. 1.0

Fig. 1.1

Step3: Eliminating the feedback path

Fig. 1.2
Step 4: Combining blocks in cascade
Step 5: Eliminating the feedback path

Step 6: Combining blocks in cascade

Fig. 1.3

Fig. 1.4

Step 7: Eliminating the feedback path

Fig. 1.5

The transfer function is

G1G2 G3G 4
C (s)

R(s) 1 G3 G 4 H1 G2 G3 H2 G1G2 G3G 4

Fig. 1.6
2. Find the transfer function for the given block diagram
shown
Solution:

Fig. 1.7

Step1: From the given system the gain at the takeoff point 1
is equal to the gain at the takeoff point 2, hence we can
interchange the takeoff point.

Fig. 1.8

Step 2: Eliminate the feedback paths

Step3: Combining blocks in parallel

The transfer function is

C (s)
2G

R(s) 1 GH

Fig. 2.0

Fig. 2.1

Fig. 2.2

Fig. 2.3

Concept:
Title

Review Questions
Review Questions
Content

1) Consider a system represented by the block diagram

The closed - loop transfer function T (s) Y (s) R(s) is

50
a) T (s) 2
s 55s 50
10
b) T (s) 2
s 50s 55

10
c) T (s) 2
s 55s 10
d) None of these

2) Consider the block diagram shown in the figure

The closed loop transfer function T (s) Y (s) R(s) is

50
a) T (s) 2
s 5s 50
20
b) T (s) 2
s 10s 25
(Answer (b))

20
c) T (s) 2
s 10s 15
50
d) T (s) 2
s 5s 56

Instruction
to Animator

Graphics

3) Consider the differential equation y 2y y u

Where y(0) y (0) 0 and u(t) is a unit step. The poles of this system are:

a) s1 1 j, s2 1 j
b)

s1 1, s2 1

c) s1 1, s2 2
d) None of these

(Answer (b))

4) A car of mass m = 1000kg is attached to a truck using a spring of stiffness K

= 20000 N/m and a damper of constant b = 200 Ns/m. The truck moves at a
constant acceleration of a 0.7 m/s2.

The transfer function between the speed of the truck and the speed of the car
is:

20 s
a) T (s) 2
s 10s 25
50
b) T (s)
2
5s s 100

c) T (s)

100 s
2

5s s 100

d) None of the above

5) Consider the closed - loop system shown in the figure

Compute the closed - loop transfer function and the closed - loop zeros and
poles.

1
,
a) T (s) 3
2
s 50s 4500s 16000
15000
,
b) T (s) 3
2
s 50s 4500s 16000
15000
,
c) T (s) 3
2
s 50s 4500s 16000
15000
,
s1
d) T (s)
2
50s 4500s 16000

s1 3.70, s2,3 23.2 63.2 j

s1 3.70, s2,3 23.15 61.59 j
s1 3.70, s2,3 23.15 61.59 j
3.70, s2,3 86.29

(Answer (c))
6) For the block diagram shown in figure, C(s)/R(s) is given by
a)

G1G2G3
1 H2G2G3 H1G1G2

b)

G1G2G3
1 G1G2G3H1H2

c)
d)

G1G2G3
1 G1G2G3H1 G1G2G3H2

Fig. q6

G1G2G3
1 G1G2G3H1

(Answer (a))
7) The block diagram of a control system is shown in figure. The transfer
function G(s)=Y(s)/ U(s) of the system is
1
1

18 1

12

1
s

b)
27 1
6

a)

(Answer (b))

3
s

s
s

27 1
1
12
9

1
s
s

d)
27 1 1
9
3

c)

Fig. q7

8) For the block diagram shown in figure, the transfer function

C (s)
is equal
R(s)

to
a)
b)
c)
d)

s2 1
s2
2

s s 1
s2
s

s 1
s

1
2

s s 1

(Answer (c))
9. If the initial conditions for a system are inherently zero, what does it
physically mean?
a)
b)
c)
d)

The system is at rest but stores energy.

The system is working but does not store energy.
The system is at rest or no energy is stored in any of its parts.
The system is working with zero reference input.

10. A system can be completely described by a transfer function if it is

a)
b)
c)
d)

Nonlinear and continuous

Linear and time- varying
Nonlinear and time- invariant
Linear and time- invariant

11.
a)
b)
c)
d)

For a system, zero initial condition means

Zero stored energy
No initial movement of moving parts
System is at rest and no energy is stored in any of its components
Input reference signal is zero.

Fig. q8

12. The transfer function of a system can be used to evaluate

a) Time constant
b) Feedback
c) Type of system
d) Output for a given input

Concept:
Title
Content

1.

Match the following

Match the following
Instruction to
Animator
1st answer
A
B
C
D

2.

3
4
1
2

Graphics

2nd answer
A
B
C
D

3
1
4
2

Concept:
Title
Content

True or False
True or False

1. Very few physical systems are linear within some range of the
variables.
False
2. The roots of the characteristic equation are the zeros of the
closed-loop system.
False
3. A linear system satisfies the properties of superposition and
homogeneity
True
4. The transfer function is the ratio of the Laplace transform of the
output variable to the Laplace transform of the input variable,
with all initial conditions equal to zero.
True
5. Linear system not obeys the superposition principle.
False
6. Transfer function of a control system depends on initial
conditions of input and output.
False
7. Transfer function of control system depends on the system
parameters alone.

Instruction to
Animator

Graphics

True

Concept:
Title
Content

Drag and Drop

Drag and Drop
Instruction to
Animator

1. A unit impulse function on differentiation results in

Answer: Unit doublet
2. The transient function of the system and response in terms of Laplace transform
are same for which of the following input function?
Answer: Unit impulse function
3. Laplace transform of unit doublet is
Answer: s
4. The overall gain

Answer:

G
1 GH FG

5. The overall gain

Answer:

C (s)
of the block diagram
R(s)

C (s)
of the block diagram
R(s)

GH
1 FH FG

Graphics

Concept:
Title

Model Questions
Model Questions
Content

1. The dynamic behavior of the system is described by the equation,

dC
10C 40e , where e is the input and C is the output. Determine
dt
the transfer function of the system.
Solution:
Given that, the equation describing dynamic behavior of the system is
dC
10C 40e
dt
Apply Laplace transform to the above equation by assuming all initial
conditions are zero
dC

10C L 40e
dt

s.C (s) 10C (s) 40E(s)

C (s)
40

E(s)
s 10

The desired transfer function is

C (s)
40

E(s) s 10

Instruction
to Animator

Graphics

2. Define the transfer function and determine the transfer function of RLC
series circuit if voltage across the capacitor is output variable and input
is voltage source V(s).
Solution:
Transfer Function of Series RLC Circuit:

By applying KVL in the above loop

Vi iR L

di
1

dt C

idt

. (1)

1
idt (2)
C
By applying Laplace transform to eqn. (1), we get
The output voltage is given by, Vo

Vi (s) I(s)R LsI(s)

1
I(s)
sC

Vi (s) R Ls
I(s) (3)
sC

By applying Laplace transform to eqn. (2), we get

1
I(s)
(4)
sC
From Eqns. (3) & (4)
Vo (s)

1
I(s)
1
sC

2
1
R Ls
I(s) LCs RCs 1
sC

Vo (s)

Vi (s)

The above equation is our desired transfer function.

3. Find the transfer function of the following system, shown in the figure.
Fig. q3

Solution:
Let assume the given network is,
The voltage at node 1 is VC1 and node 2 is Vo.
Apply KCL at node 1,

VC1 Vi
dV
V Vo
C1 C1 C1
0 . (1)
R1
dt
R1
Apply KCL at node 2

Vo Vc1
dV
C2 o 0 (2)
R2
dt
By applying Laplace transform to eqn. (1)

VC1(s) Vi (s)
V (s) Vo (s)
C1sVC1(s) C1
0
R1
R1
(2 R1C1s) VC1(s) Vi (s) Vo (s) 0

VC1(s)

Vi (s) Vo (s)
. (3)
(1 R1C1s)

By applying Laplace transform to eqn. (2)

Vo (s) Vc1(s)
C2sVo (s) 0 (1 R2C2s)Vo (s) Vc1(s) 0
R2

Vo (s)

Vc1(s)
(1 R2C2s)

.. (4)

Substitute eqn. (3) in eqn. (4)

V (s) Vo (s)
1

Vo (s) i

(1 R2C2s)
(1 R1C1s)

1
Vi (s)

Vo (s) 1

(1 R1C1s)(1 R2C2s)
(1 R1C1s)(1 R2C2s)

Vo (s)
1

Vi (s)
(1 R1C1s) (1 R2C2s)

In the given problem R1 R2 1 k and C1 C2 0.1 F

V (s)
1
o

3
Vi (s)
(1 1 10 s) (1 1 10 3 s)

4. Derive the transfer function of the following network shown.

Solution:
By applying KVL in the 1st loop, we get

Vi i1R L

di1 1

(i1 i2 )dt . (1)

dt C

By applying KVL in the 2nd loop, we get

1
C

(i2 i1)dt R2i2 R3i2 0

.. (2)

and the output is given by,

Vo i2R3

(3)

By applying Laplace transform to the above equations, we get

Vi (s) I1(s)R LsI1(s)

1
(I1(s) I2(s))
sC

1
1

Vi (s) R Ls
I2(s) .. (4)
I1(s)
sC
sC

1
(I2 (s) I1(s)) R2 I2(s) R3I2 (s) 0
sC

1
1

I1(s) R2 R3
I2(s) 0 . (5)
sC
sC

Vo (s) I2(s)R3

.. (6)

From eqn. (4)

I1(s)

Vi (s)

1
R Ls

sC

I2 (s)
sC

Substitute I1(s) in eqn. (5)

sC

Vi (s)

1
R Ls

sC

1
1

I2(s) R2 R3
I2(s) 0
sC
sC

Fig. q5.1

By substituting eqn. (6) in the above equation and by rearranging we get,

Vo (s)
R3Cs

Vi (s) {1 (R1 sL)Cs}{1 (R2 R3 )Cs} 1

5. Obtain the transfer function of the following system.

Fig. q5.2

Solution:
From the given system two displacements are there.
nodes

There are two

at node (2)
Free body diagram of mass M is,

By Newtons second law, we have,

f(t) = fk2 + fM
f (t ) K2 x x1 M

d2x
dt

By taking Laplace transform to the above equation.

F S MS2 X S K2 X s X1 s

Ms2 K2 X S K2 X1 S (1)

At node (1), assume a dummy mass element with M = 0

Free body diagram at node (1) is,

Fig. q5.3

By Newtons second law, we have

fm + fk1 + fk2 = 0
0 + K1x1 + K2(x1 x) = 0
By applying Laplace transform to the above equation,
K1X1(s) + K2[X1(s) X(s)] = 0
(K1 + K2) X1(s) K2 X(s)] = 0

X1 s

K2 X s
K1 K2

(2)

Substitute equation (2) in equation (1)

K2 X s

F s Ms2 K2 X s K2

K
2
1

K2 2 X s
Ms2 K2
K1 K2

Ms2 K K K K K 2 K 2
1
2
1 2
2
2 X s
K1 K2

Ms2 K K K K
1
2
1 2 X s

K
1
2

The required transfer function is,

Fig. q6.1

 K1 K2
X s

2
F s
Ms K1 K2 K1 K2

Fig. q6.2

6. Find the transfer function of the following system shown

Solution:
Here input is applied torque T and output is the displacement .
The desired transfer function is

1.

s
T s

Fig. q6.3

Consider the moment of inertia J1

According to Newtons second law,

T TJ1 Tk1

J1

d 21
dt 2

K 1

Taking Laplace of the above equation, we get

T s J1s21 s K 1 s s

J1s2 K 1 s K s

(1)

Consider the moment of inertia J2

2.

According to Newtons second law,

TJ2 Tb Tk 0
J2

d 2
dt

d
K 1 0
dt

Taking Laplace to the above equation we get

J2s2 s Bs s K s 1 s 0

J s
2

Bs K s K1 s 0

J s

1 s

Bs K s
K

(2)

Substitute equation (2) in equation (1)

T s J1s

J s
K .
2

Bs K s
K s
K

J s2 K J s2 Bs K K 2
1
2
s
K

Desired transfer function

s
K

T s
J1s2 K J2s2 Bs K K 2

7.

Find the transfer function of the following system in figure.

Fig. q7.1
Solution:
The given system consists of two nodes.

Fig. q7.2

At node (1)
Fig. q7.3

The free body diagram of mass M1 is

According to Newtons second law,

f m1 f b1 f k1 f k f b 0

M1

d 2 x1
dt

B1

dx1
d x1 x
k1 x1 B
k x1 x 0
dt
dt

Taking Laplace transform, we get

M1s2 X1 s B1sX1 s K1 X1 s Bs X1(s) X s K X1(s) X s 0

M s
1

B1s K1 Bs K X1 s Bs K X s 0

X1 s
At note (2)

M1s

Bs

B1s K1 Bs K

X s

(1)

The free body diagram of mass M2 is,

According to Newtons second law,

f t fm2 fb fk fb2
d2 x

M2

dt

dx
d x x1
K x x1 B2
dt
dt

Taking Laplace transform, we get

M2s2 X s B2sX s Bs X (s) X1 s K X (s) X1 s F s

M s

(2)

B2s Bs K X s Bs K X1 s F (s)

Substitute equation (1) in equation (2)

M s

B2s Bs K X s

Bs
M1s

K Bs K X s
B1s Bs K1 K

F (s)

M s2 B s Bs K M s2 B s Bs K K Bs K 2
2
2
1
1
1
F s
2

M1s B1s Bs K1 K

X s

Desired transfer function

X s
M1s2 B1s Bs K1 K

F s
M2s2 B2s Bs K M1s2 B1s Bs K1 K Bs K 2

8.

Obtain the transfer function

X0 s
of the following system shown in
X1 s

the figure.

Solution:
In the given n/w, there is one node but there is no mass element to
represent it. Hence, assuming a fictions mass element with M = 0. The
given figure is modified as

Considering mass element and the opposing forces acting on it.

fM fB1 fK1 fK 2

Fig. q8.1

Fig. q8.2
Fig. q8.3

0 B1

d x xo
K1 x1 xo K2 xo
dt

Taking Laplace transform of the above equation, we get

B1sX s K1 X1 s B1sX o s K1 X o s K2 X o s

X1 s B1s K1 X o s B1s K1 K2

9.

Xo s
B1s K1

X1 s
B1s K1 K2

Explain the properties of block diagrams.

Aug/ Sep - 2008, 2007
or
Explain the rules of block diagram reduction.

Answer: Covered in screen

10. Find the transfer function for the figure shown, using block diagram
reduction technique.

Fig. q10

Solution:

The given block diagram is redrawn as

Step1: Combining parallel blocks
Fig. q10.1
Step2: Moving takeoff point ahead the block and Combining blocks in
cascade
Step3: Eliminating the feedback path

Step 4: Moving takeoff point ahead to the block

Fig. q10.2

Fig. q10.3

Step 5: Combining blocks in cascade and eliminating the feedback path

Step 6: Eliminating the feedback path

Fig. q10.4

Step 7: Eliminating the feedback path

The required transfer function is

C (s)
2G1G2G3

R(s) 1 G2H 2G1G2H G1

11. Determine the transfer function C (s) R(s) for the following block
diagram.

Fig. q10.5

Fig. q10.6

Answer:
Step1: Moving summing point ahead to the block

Fig. q10.7

Step2: Interchange the summing points and Combining blocks in cascade

Step3: Eliminating the feedback paths

Fig. q10.8

Step 4: Combining blocks in cascade

The required transfer function is C (s) (G1 G2 )G3

R(s)
1 G1G3 H1

Fig. q11.1

Fig. q11.2
12. Determine the transfer function C (s) R(s) for the following block
diagram.

Fig. q11.3

Answer:
Step1: Moving takeoff point behind the block
Fig. q11.4
Step2: Combining parallel blocks
Step3: Moving takeoff point ahead to the block

Fig. q11.5

Step 4: Eliminating the feedback path

Fig. q12.1
Step 5: Combining blocks in cascade

Step 6: Eliminating the feedback path

The required transfer function is

C (s)
G1(G2 G3 )

R(s) 1 G2 G3 G1G2H1

Fig. q12.2

Fig. q12.3

Fig. q12.4

Fig. q12.5

Fig.q12.6

Fig. q12.7

Concept:
Title

Exercises
Exercises
Content

1. Find the transfer functions, G(s)

Instruction to
Animator

Vo (s)
, for the network as
Vi (s)

shown the figure

Answer:

Vo(s)
s2 2 s 2

Vi (s) s 4 2s3 3s2 3s 2

2. Find the transfer function

Insert fig. 1,2,3,

4 below the
questions 1,2,
3,4 respectively.

C (s)
for the block diagram as shown
R(s)

the figure
Answer:

Graphics

Fig. 2

(1 G4H2 )(G2 G3 )G1

1 G1H1H2(G2 G3 )

3. Write the differential equations for the mechanical system as

shown in the figure.

Fig. 3

1 f1x 1 K1x1 f12(x 1 x 2 )

Answer: F (t ) M1x
0 M2 x2 f2 x 2 K2 x2 f12(x 2 x 1)

4. Obtain the transfer function of the mechanical system as shown

Fig. 4

in figure
Answer:

M1s2 (f1 f )s K1 K

M M s4 [M f M f f (M M )]s3 [M K K (M M ) f f
1 2
12
21
1
2
2 1
1
2
12
f (f1 f2 )]s2 K1(f1 f2 ) K (f1 f2 )]s K1K

Concept:
Title
Content

Assignments
Assignments
Instruction
to Animator

Graphics