Transfer function

Is the ratio of the Laplace transform of the output (response function) to the Laplace
transform of the input (driving function) under the assumption that all initial
conditions are zero.

L[output ]
Transfer function = G (s ) =
L[input ] zero initial conditions

The concept of the transfer function is limited to linear, time-

invariant, differential equation systems.

Comments on transfer function

 The transfer function of a system is a mathematical model in that it is an operational
method of expressing the differential equation that relates the output variable to the
input variable.
 The transfer function is a property of a system itself, independent of the magnitude
and nature of the input or driving function.
 The transfer functions of many physically different systems can be identical.

A system can be defined as a mathematical relationship between the input, output and the
states of a system. In control theory, a system is represented a rectangle with an input and
output.

where:
u(t) – input

y(t) – output
Both input and output are variable in time. A system with only one input and output is
called SISO (Single Input Single Output) system. Control theory also applies to MIMO
(Multi Input Multi Output) systems, but for an easier understanding of the concept we are

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going to refer only to SISO systems.

Transfer function formula

The simplest representation of a system is through Ordinary Differential Equation (ODE).

When dealing with ordinary differential equations, the dependent variables are function
of a positive real variable t (often time). By applying Laplace’s transform, we switch from
a function of time to a function of a complex variable s (frequency) and the differential
equation becomes an algebraic equation.

The transfer function defines the relation between the output and the input of a dynamic
system, written in complex form (s variable). For a dynamic system with an input u(t) and an
output y(t), the transfer function H(s) is the ratio between the complex representation (s
variable) of the output Y(s) and input U(s).

Laplace Transform of Derivatives

For a given continuous and differentiable function f(t), the following Laplace transforms
properties applies:

Finding the transfer function of a systems basically means to apply the Laplace transform to
the set of differential equations defining the system and to solve the algebraic equation for
Y(s)/U(s). The following examples will show step by step how you find the transfer function
for several physical systems.

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Transfer function example for a mechanical system
Example. Find the transfer function for a single translational mass system with spring and
damper.

The methodology for finding the equation of motion for this is system is described in detail in
the tutorial Mechanical systems modeling using Newton’s equations.
The ordinary differential equation describing the dynamics of the system is:

The input of the system is the external force F(t) and the output is the displacement x(t). First,
we’ll apply the Laplace transform to each of the terms of the equation:

The initial conditions of the mass position and speed are:

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Replacing the Laplace transforms and initial conditions in the equation gives:

The transfer function of the translational mass system with spring and damper:

In next we have a solved example on a 2DOF mechanical system:

(Reference: Katsuhiko Ogata _ Modern Control Engineering 5th Edition)

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 1.1 Laplace transformation
f (t ) = a function of time t such that f (t ) = 0 for t < 0 (that is initial condition = zero)
s = a complex variable.
L = an operational symbol indicating that the quantity that it prefixes is to be transformed
∞
by the Laplace integral ∫ e −st dt
0

F(s) = Laplace transform of f(t) (that is F(s) = L[f(t)] ).

Then the Laplace transform of f(t) is given by:
∞
L[ f (t )] = F (s ) = ∫ f (t )e −st dt
0

The reverse process of finding the time function f(t) from the Laplace transform F(s) is
called the inverse Laplace transformation.

The notation for the inverse Laplace transformation is L−1 , and the inverse Laplace
transform can be found from F(s) by the following inversion integral:
1 c + j∞
L [F (s )] = f (t ) =
−1
∫ F (s ) e st ds , for t > 0
2πj c− j∞
Where c is a real constant.

Time function f(t) always assumed to be zero for negative time; that is:
f(t) = 0 for t < 0

1.2 Transform of simple functions

1.2.1 The step function

0 t < 0
f (t ) = 
1 t > 0
The Laplace for this function is:
1
L[u (t )] =
s

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Note that as a consequence of linearity, the transform of any
A
constant A, that is, f (t ) = Au (t ) , is just F (s ) = .
s

1.2.2 The exponential function

0 t < 0
f (t ) =  = u (t ) e
− at

e −at t > 0
Where u(t) is the unit-step function. Again proceeding according to definitions:
∞
1
L[u (t )e − at
]= ∫ e ( − s + a )t
dt = − U (t )
0 s+a
Provided that s+a>0.

1.2.3 The ramp function

0 t < 0
f (t ) =   = tu (t )
 t t > 0
∞
L[tu (t )] = ∫ te −st dt
0

Integration by parts gives us:

1
L[tu (t )] =
s2

1.2.4 The sine function

 0 t < 0
f (t ) =   = u (t )sin ω t
sin ω t t > 0
∞
ω
L [u (t )sin ω t ] = ∫ sin ω t e −st dt =
0 s + ω22

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Function Graph Transform

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 Function Graph Transform

1.3 Transforms of Derivatives

Where:

And f(0) is f(t) evaluated at t=0 (Initial condition).

To find the transform of the second derivative we make use of the transform of the first
derivative twice, as follows:

Where:

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 1.4 Finding Laplace transformation
Laplace transform tables can conveniently be used to find the transform of a given function
f(t). Next table shows Laplace transforms of time functions that will frequently appear in
linear control systems analysis.

f(t) F(t)
1 Unit impulse δ (t ) 1

2 1 1
s
3 t 1
s2
4 t n−1 1
(n = 1, 2, 3,…..)
(n − 1)! sn
5 tn (n = 1, 2, 3,…..) n!
s n+1
6 e − at 1
s+a
7 t e − at 1
(s + a )2
8 1 1
t n −1 e − at (n = 1, 2, 3,…..)
(n − 1)! (s + a )n
9 t n e − at (n = 1, 2, 3,…..) n!
(s + a )n+1
10 sin ω t ω
s2 + ω 2
11 cos ω t s
s + ω2
2

12 sinh ω t ω
s −ω2
2

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 f(t) F(t)
13 cosh ω t s
s −ω2
2

14 1 1
(1 − e−at )
a s (s + a )
15 1 1
(e−at − e−bt )
b−a (s + a )(s + b )
16 1 s
(be−bt − ae−at )
b−a (s + a )(s + b )
17 1  1 1
1+ (be −at − ae −bt )
ab  b − a  s(s + a )(s + b )
18 1 1
(
1 − e − at − ate − at )
s (s + a )
2 2
a
19 1 1
(
at −1 + e − at )
a 2
s (s + a )
2

20 e − at sin ω t ω
(s + a )2 + ω 2
21 e − at cos ω t s+a
(s + a )2 + ω 2
22 ωn ω n2
e −ζωnt sin ω n 1 − ζ 2 t
1−ζ 2 s 2 + 2ζω n s + ω n2

23
−
1
1− ζ 2
(
e −ζωnt sin ω n 1 − ζ 2 t − φ ) s
s + 2ζω n s + ω n2
2

1− ζ 2
φ = tan −1
ζ
24
1−
1
1− ζ 2
(
e −ζωnt sin ω n 1 − ζ 2 t + φ ) ω n2
s (s 2 + 2ζω n s + ω n2 )
1− ζ 2
φ = tan −1
ζ

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 f(t) F(t)
25 1− cos ω t ω2
s (s 2 + ω 2 )
26 ω t − sin ω t ω3
s 2 (s 2 + ω 2 )
27 sin ω t − ω t cos ω t 2ω 3
(s 2
+ω2 )
2

28 1 s
t sin ω t
2ω (s 2
+ω2 )
2

29 t cos ω t s2 −ω 2
(s 2
+ω2 )
2

30 1 s
(cos ω1 t − cos ω2 t ) (s 2
+ω 2
)(s 2
+ ω 22 )
ω − ω12
2
2 1

(ω1
2
≠ ω 22 )
31 1 s2
(sin ω t + ω t cos ω t )
2ω (s 2
+ω2 )
2

32 df (t ) sf (s ) − f (0 )
dt Important: f (0 ) is f (t ) evaluated at t = 0 .
33 d2 f s 2 f (s ) − sf (0 ) − f (1) (0 )
dt 2 Important: f (0 ) is f (t ) evaluated at t = 0 , and

df (t )
f (1) (0 ) =
dt t =0
34 dn f s 2 f (s ) − s n−1 f (0 ) − s n−2 f (1) (0 ) − ... − sf ( n−2 ) (0 ) − f ( n−1) (0 )
dt n Important: f (0 ) is f (t ) evaluated at t = 0 .
35
∫ f (t )dt 1
f (s )
s

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