In control theory, functions called "transfer functions" are very often used
to characterize the input-output relationships of linear time-invariant
systems. The concept of transfer functions applies only to linear
time-invariant systems, although it can be extended to certain nonlinear
Transfer Functions. The transfer function of a linear time-invariant system is
defined to be 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.
The transfer function is an expression relating the output and input of a
linear time-invariant system in terms of the system parameters and is a
property of the system itself, independent of the driving function. The
transfer function includes the units necessary to relate the input to the
output; however, it does not provide any information concerning the physical
structure of the system. (The transfer functions of many physically different
systems can be identical.)
By using this concept, one can represent the system dynamics by algebraic
equations in S.
—Modern Control Engineering by Katsuhiko Ogata, pg. 72. (University of Minnesota.) (©1970)
Derivation of Transfer Function for the Inverted Pendulum
Starting with our characteristic equation from the previous page:
we take the Laplace Transform of both sides:
and do some rearranging:
This is our transfer function for the inverted pendulum.