Transfer function

Linearization

Transfer function and linearization

Daniele Carnevale

Dipartimento di Ing. Civile ed Ing. Informatica (DICII),

University of Rome “Tor Vergata”

Corso di Controlli Automatici, A.A. 2014-2015

Testo del corso: Fondamenti di Controlli Automatici,
P. Bolzern, R. Scattolini, N. Schiavoni.

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 Transfer function
Example
Linearization

Space state and transfer function

Consider Single Input Single Output (SISO) Linear Time-invariant System

(LTI) described by the differential equation (continuous time)

ẋ = Ax + Bu, y = Cx + Du, (1)

n
with x ∈ R , u ∈ R, y ∈ R.
The solution ϕ(t, x0 , u(·)) := x(t) of (1) with initial condition x0 is
Z t
x(t) = eAt x0 + eA(t−τ ) Bu(τ )d τ, [proof: substitute in (1)] (2)
0

the system output is then

Z t
At
y(t) = Ce x0 + C eA(t−τ ) Bu(τ )d τ + Du(t) . (3)
0
| {z }
free response | {z }
forced response

The free response is characterized by system modes of the type eλi t thi /hi !,
where λi ∈ σ{A} ⊂ C and 0 ≤ hi ≤ n is the dimension of the largest Jordan
block associated to λi . The forced response contains the modes of the input
and the output eαj t tqj /qj !. There might be higher order (tqj +1 ) polynomials
in the response if αj = λi for some i and j (resonance).
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 Transfer function
Example
Linearization

Laplace transform: the transfer function

Applying Laplace transform to (1) yields

L[x(t)](s) := x(s) = (sI − A)−1 x0 + (sI − A)−1 Bu(s) (4)

−1 −1

L[y(t)](s) := y(s) = C(sI − A) x0 + C(sI − A) B + D u(s). (5)

Definition (Transfer function)

Assuming x0 = 0, then
y(s) Γm (s − zi )
F DT (s) := = C(sI − A)−1 B + D = ni=0 , (6)
u(s) Γi=0 (s − pi )

is the system transfer function and is a proper rational function (ratio of

polynomials of s where m ≤ n ≤ n). Furthermore, if every pole (root of the
denominator) pi of the FDT has non-positive real part (pi ∈ C0− ) then if
u(t) = E cos(ωt + θ) it holds

lim y(t) = ρ(ω)E cos(ωt + θ + ϕ(ω)), (7)

t→∞

where ρ(ω) := |F DT (jω)| and ϕ(ω) := F DT (jω).

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 Transfer function
Example
Linearization

Transient response

The forced response, using inverse Laplace transform and residuals can be
written as

y(t) = L−1 [C(sI − A)−1 x0 ](t) + L−1 [F DT (s)u(s)](t)

" #
−1
X X Ri,j X X Ri,j
= |x0 =0 L +
i j
(s − pi )j i j
(s − αi )j
X X Ri,j tj−1 epi t X X Ri,j tj−1 eαi t
= + . (8)
i j
(j − 1)! i j
(j − 1)!
| {z } | {z }
transient response regime response

If pi ∈ C − then
X X Ri,j tj−1 epi t
lim = 0.
t→∞
i j
(j − 1)!
| {z }
transient response

What happen if pi ∈ C0− ?

Does exist an initial condition x0 such that
y(t) = ρ(ω)E cos(ωt + θ + ϕ(ω)) for all t ≥ 0?

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 Transfer function
Example
Linearization

First order rational functions (not all of them are proper transfer functions)

1 s + 10 1 −0.1s + 1
P1 (s) = , P2 (s) = , P3 (s) = , P4 (s) = ,
s + 10 1 0.1s + 1 1
1 s + 100 s + 10
P5 (s) = , P6 (s) = , P7 (s) = 2 .
s − 10 s + 10 s + 100
Bode Diagram

100

50
Magnitude (dB)

−50

−100 P1
360
P2
270 P
3

180 P
Phase (deg)

4
P5
90
P
6
0 P7

−90

−180
−1 0 1 2 3 4
10 10 10 10 10 10
Frequency (rad/s)

Figure : Bode plots - first order functions. 5 / 13

 Transfer function
Example
Linearization

First order rational functions (not all of them are proper transfer functions)

P1 = t f ( 1 , [ 1 1 0 ] ) ; P2 = t f ( [ 1 1 0 ] , 1 ) ; P3 = t f ( 1 , [ 0 . 1 1 ] ) ;
P4 = t f ( [ − 0 . 1 1 ] , [ 1 ] ) ; P5 = t f ( 1 , [ 1 − 1 0 ] ) ;
P6 = t f ( [ 1 1 0 0 ] , [ 1 1 0 ] ) ; P7 = zpk ( [ − 1 0 ] , [ − 1 0 0 ] , 2 ) ;

figure (1)
bode ( P1 , P2 , P3 , P4 , P5 , P6 , P7 ) ;
legend ( ’ P 1 ’ , ’ P 2 ’ , ’ P 3 ’ , ’ P 4 ’ , ’ P 5 ’ , ’ P 6 ’ , ’ P 7 ’ )
s e t ( f i n d a l l ( gcf , ’ t y p e ’ , ’ l i n e ’ ) , ’ l i n e w i d t h ’ , 3 )
h o l d on
g r i d on

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 Transfer function
Example
Linearization

Step response: first order rational functions

1 s + 10 1 −0.1s + 1
P1 (s) = , P2 (s) = , P3 (s) = , P4 (s) = ,
s + 10 1 0.1s + 1 1
1 s + 100 s + 10
P5 (s) = , P6 (s) = , P7 (s) = 2 .
s − 10 s + 10 s + 100
Step Response

10
P
1

9 P
3
P
5
8 P6
P
7
7

6
Amplitude

0
0 1 2 3 4 5 6
Time (seconds)

Figure : Step response - first order functions. 7 / 13

 Transfer function
Example
Linearization

Step response: first order rational functions

1 s + 10 1 −0.1s + 1
P1 (s) = , P2 (s) = , P3 (s) = , P4 (s) = ,
s + 10 1 0.1s + 1 1
1 s + 100 s + 10
P5 (s) = , P6 (s) = , P7 (s) = 2 .
s − 10 s + 10 s + 100

10
P1
P
8 3
P5
P
P6 1
6 3 P
P7 3
P5
4 2 P
6
P7
2 1
y(t)
y(t)

0
0

−1
−2

−2
−4
−3
−6
0.51 0.52 0.53 0.54 0.55 0.56 0.57 0.58

−8
time [s ]

−10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time [s ]

Figure : Input response : u(t) = 2 sin(t · 2π · 30). 8 / 13

 Transfer function
Example
Linearization

First order rational functions (not all of them are proper transfer functions)
ni = 30;
omega = 2∗ p i ∗ n i ;
mytime = 0 : 0 . 0 0 1 : 2 ;
u = 2∗ s i n ( omega ∗ mytime ) ;
l i s t a C o l o r i = { ’ r ’ , ’ b ’ , ’ g ’ , ’ k ’ , ’ c ’ , ’ y ’ , ’m ’ , ’ r−− ’ , . . .
’ b−− ’ , ’ g−− ’ , ’ k−− ’ , ’ c−− ’ , ’ y−− ’ , ’m−− ’ , ’ r : ’ , ’ b : ’ , ’ g : ’ , . . .
’ k : ’ , ’ c : ’ , ’ y : ’ , ’m: ’ , ’ r .− ’ , ’ b.− ’ , ’ g.− ’ , ’ k.− ’ , ’ c .− ’ , . . .
’ y .− ’ , ’m.− ’ , ’ r−o ’ , ’ b−o ’ , ’ g−o ’ , ’ k−o ’ , ’ c−o ’ , ’ y−o ’ , ’m−o ’ , . . .
’ r−x ’ , ’ b−x ’ , ’ g−x ’ , ’ k−x ’ , ’ c−x ’ , ’ y−x ’ , ’m−x ’ } ;
myFontSize = 16;

figure (1)
for i = 1:7
i f ( i ˜= 2 && i ˜= 4 ) %n o t p r o p e r t r a n s f e r f u n c t i o n
e v a l ( [ ’ y = l s i m (P ’ num2str ( i ) ’ , u , mytime ) ; ’ ] ) ;
p l o t ( mytime , y , c e l l 2 m a t ( l i s t a C o l o r i ( i ) ) , ’ L i n e W i d t h ’ , 2 ) ;
h o l d on
y l i m ([ −10 1 0 ] )
end
end
hold o f f
l e g e n d ( ’ P 1 ’ , ’ P 3 ’ , ’ P 5 ’ , ’ P 6 ’ , ’ P 7 ’ , ’ L o c a t i o n ’ , ’ NorthWest ’ )
x l a b e l ( ’ t i m e [ s ] ’ , ’ F o n t S i z e ’ , myF on tSi ze , ’ I n t e r p r e t e r ’ , ’ L a t e x ’ )
y l a b e l ( ’ y ( t ) ’ , ’ F o n t S i z e ’ , m yF ont Si ze , ’ I n t e r p r e t e r ’ , ’ L a t e x ’ )
h o l d on
g r i d on 9 / 13
 Transfer function
Example
Linearization

Second order rational functions

ωn2
P1 (s) = ,
s2
+ 2ζωn s + ωn 2

1 + 2s 1−2s
P2 (s) = 2 , P3 (s) = 2 ,
s + 1s + 1 s + 1s + 1

Bode Diagram Bode Diagram

150 10

100 0
Magnitude (dB)

Magnitude (dB)
50 −10

0 −20

−50 −30

−100 −40
0 360
P
2
270 P3
−45
Phase (deg)

Phase (deg)
180
−90
90

−135
0

−180 −90
−2 −1 0 1 2 −2 −1 0 1 2
10 10 10 10 10 10 10 10 10 10
Frequency (rad/s) Frequency (rad/s)

Figure : Left: P1 (s) with ζ ∈ [0, 1]. Right: P2 (s) and P3 (s). 10 / 13
 Transfer function
Example
Linearization

Second order rational functions

ωn2
P1 (s) = ,
s2
+ 2ζωn s + ωn 2

1 + 2s 1−2s
P2 (s) = 2 , P3 (s) = 2 , [Non-minum phase plants: zeros ∈ C + ]
s + 1s + 1 s + 1s + 1

2 2

1.8

1.5
1.6

1.4
1

1.2

y(t)
y(t)

1 0.5

0.8

0
0.6

0.4
−0.5

0.2

0 −1
0 5 10 15 0 5 10 15
time [s ] time [s ]

Figure : Step response of P1 (s) with ζ ∈ [0, 1]. Right: step response of P2 (s) (RED)
and P3 (s) (BLUE).
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 Transfer function
Linearization

Linearization

Consider the nonlinear differential equation

ẋ = f (x, u, d),

where the system state is x ∈ Rn with input u ∈ Rp and disturbance d ∈ Rq .

Let (xe , ue , de ) be the equilibrium triple such that f (xe , ue , de ) = 0, then the
linearization of the system dynamics around such point is
  
˙x̃ ≈ ∂f (x, u, d)  ∂f (x, u, d)  ∂f (x, u, d)  ˜

x̃ + ũ + d,
∂x 
(xe ,ue ,de ) ∂u 
(xe ,ue ,de ) ∂d 
(xe ,ue ,de )
˜
≈ Ax̃ + B ũ + M d, (9)

where x̃ = x − xe , ũ = u − ue and d˜ = d − de .

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 Transfer function
Linearization

Linearization: cart-pendulum

Figure : Inverted pendulum with cart (Matlab).

13 / 13