CONTROL SYSTEMS

Lecture-4 UNIT-I

Transfer function models of linear time-

invariant systems –RLC Circuits
Dr.Y.CHALAPATHI RAO
ASSOCIATE PROFESSOR
Dept of ECE, VNR VJIET
 Laplace Transform

 Developed mathematics i The French Newton

astronomy, physics, and n Pierre-Simon Laplace
statistics
 Began work in calculus
which led to the Laplace
Transform

 Focused later on
celestial
 mechanics
One of the first
sugges scientists to the
t existence of
holes black
2
Laplace Transform
 To evaluate the performance of an automatic
control
system commonly used mathematical tool is
“Laplace
Transform”
 Laplace transform converts the differential
equation into an algebraic equation in ‘s’.
 Laplace transform exist for almost all signals
of practical interest. 3
Why Laplace Transform?
Laplace
Transformatio
n
Time domain Frequency domain
unknown f(t), d/dt, Diff Eqs unknown F(s), Alg Eqs

Solve
Differentia Solve
l Algebraic
Equations Equation
s

Time domain
known f(t) Frequency domain
known F(s)

Inverse
Laplace
Transfor
m 4
Advantages of Laplace Transform

 Solution of intego equation of time

differential systems can be easily
 obtained.
Initial conditions are automatically incorporated.
 Laplace transform provides an easy & effective
solution of many problems arising in automatic control
systems.
 Laplace transform allows the use of graphical
techniques, for predicting the system performance.
5
Laplace Transform- Definition

The Laplace transform of a function, f(t), is defined as


F (s)  L f (t)  f t est dt (1-1)
0
 

where F(s) is the symbol for the Laplace transform, L is the Laplace
transform operator, and f(t) is some function of time, t.

Note: The L operator transforms a time domain function f(t)

into an s domain function, F(s). s is a complex variable:
s = a + bj, j B 1

6
 Standard Laplace Transform
f (t) F ( s )  L[ f
1(t)]
or u(t) 1
s
1
e  t
s
sint 
s  2

cos  t  2s
s2   2

e   t si n  t 
(s   )2  
2
e  t cost s
(s   )2  
t 1
2

s2

n
n!
t
s n1
n!
e t t n
(s   )n  1
 (t ) 1

* U s e w h e n roots are c o m p l e x .

7
Inverse Laplace Transform

By definition, the inverse Laplace transform operator, L-1,

converts an s-domain function back to the corresponding
time domain function:

f t   L F1

s

8
Transfer Function

 The relationship between input & output of a system is

given by the transfer function.

 Definition: The ratio of Laplace transform of the output

to the Laplace transform of the input under the

assumption of zero initial conditions is defined as

“Transfer Function”.

9
Transfer Function

LT
Syste c(t Syste C(s
r(t R(s
) m ) ) m )
g(t) G(s)
For the system shown,
c(t)= L{c(t)}=
output C(s)
r(t)= input L{r(t)}=
g(t)= R(s)
Therefore L{g(t)}=
System transfer function G(s) for above system is
given by,
function G(s)
C (s)
G(s) Laplace of output
Laplace of = R(s)
=
input
10
 Transfer Function of closed loop system
Error Gain for CL system is given
Sign by;
R(s al
E(s) G(s) C(s) G(s) 
C(s)
)
Inpu
+- Outpu E(s)
t t C(s)  G(s).E(s)      (3)
Substitute value of E(s) from eq. 1
B(s H(s) to 3
) C(s)  G(s).(R(s)  B(s))
Feedba
ck C(s)  G(s).R(s)  G(s).B(s)     
Substitute
(4) value of B(s) from eq. 2
ErrorSignal
signal is given by; to 4
E(s)  R(s)  B(s)      (1) C ( s )  G(s) R(s)  G(s).H(s).C(s)
 R(s)  E(s)  B(s) G(s).R(s)  C(s)  G(s).H(s).C(s)
Gain of feedback network is G(s).R(s)  C(s)(1  G(s).H(s))
given by; Transfer function is given by;
C(s)
C(s) T.F. 
H (s) 
B(s) G(s)
R(s) 1  G(s).H(s)
6/30/20B1(6s)  H (s).C(s)      Amit
Nevase
=
Laplace Transform of Passive Element (R,L
& C)
 The Laplace transform can be used independently
on

different circuit elements, and then the circuit can be

solved entirely in the S Domain (Which is much easier).

 Let's take a look at some of the circuit elements

12
Laplace Transform of R

 Resistors are time and frequency invariant. Therefore,

the transform of a resistor is the same as the
resistance of the resistor.

L{Resistor}=R(s)

13
Laplace Transform of C

Let us look at the relationship between voltage,

current, and capacitance, in the time domain:

dv(t)
i(t)  C dt
Solving for voltage, we get the following
integral:
v(t)  1  i(t)
dt to

C this equation into the

Then, transforming
Laplace domain, we get the following:

11
V (s) C I (s)
14
Laplace Transform of C

Again, if we solve for the ratio V(s)/I(s), we get the

following:

V (s)


for a capacitor with

1
I (s)
1
L{capacitor}
sC sC

Therefore, the 15
Laplace Transform of L

Let us look at the relationship between voltage,

current, and inductance, in the time domain:

di(t)
v(t)  L dt
putting this into the Laplace domain, we get
the formula:

V (s) 
sLI(s)
And solving for our ratio

V (s) 16

Laplace Transform of L

Therefore, the transform of an inductor with inductance

L is given by:

L{inductor}  sL

17
 Transfer Function of RC and RLC electrical
circuits

Example: Find the TF of given RC network

Taking Laplace transform above
C equation
Vi(t i(t Vo(t
) ) ) sC1
Vo(s)  I (s)      (2)
 I (s)  sC.Vo(s)      (3)
Apply KVL for input From equation 1,
loop, t
vi(t)  Ri(t)  1
1
Vi(s)  I (s)(R
sC )      (4)

i(t)dt 0 From equation 3

Taking Laplace transform
C above and 4,
equation
1
Vi(s)  RI(s)  I (s)      (1)
Vi(s)  Vo(s). sC.(R 1 )
sC
sC
Apply KVL for output loop,
vo(t)  1 t
18
i(t)dt
0
 Vo(s) 1
Transfer Function=
Vi(s 
G(s)= sC.(R
1
) sC )

1
Vo(s)
Vi(s)  sCR  1)
sC.( sC

Vo(s)
Vi(s)  sCR 
1 1
Vi(s 1 Vo(s
) sCR  1 )

19
 Transfer Function of RC and RLC electrical
circuits
Example: Find the TF of given RLC network
L
Apply KVL for input
loop,
Vi(t i(t C Vo(t
) ) ) 1
Vi(s)  RI(s)  sLI(s) I
 sC (s)
Taking Laplace transform above network 1
Vi(s)  [R sL
s
sC
L ]I (s)        (1)
Apply KVL for output
1 loop,
Vi(s I(s) Vo(s 1
sC Vo(s) I (s)      (2)
) )
 s
C

20
From equation 1 and 2, 1 I (s)
sC
Transfer Vo ( s )

1
Function= Vi ( s ) [ R  s L  s C ] I(s)

 sC
[R sL 1
sC ]

1

sCR  s 2 L C  1

1
 2
s LC  sCR
Thank
You
22