The

EXAMPLE

SOLUTION
1 Convert

nodes
R(S)
R(S) the 1.31

are

block

assigned
at diagram

to
H, input,

signal

ouput,

flow
at
5 every
graph

and

summing

G,
6 &
point
determine
G,
the

branch

transfer

point

as
8 function

10
9 shown

in using

2
Fig
C(s)
fig
2. 1
Fig
C(s)

Mason's

gain

formula.
 graph for the aboveblock diagram is shown in fig 3.
The signal flow

R(S) 1 G,
G, 1 1

1 5 7

-H, 10

Srward Path Gains

There are two forward paths. K=2.

.:.
Let the gain of the forward paths be P, and P,.

R(s) 1 1 G, 1 G, G, 1

1 2 3 4 5 6 7
:
Fig 4 Forwardpath-|

R(s) 1
G. 1

1
1 2 3 4 L 7
Fig 5: Forwardpa
Gain of forward path-1, P=G,G,G,
Gain of forward path-2, P,= G,G,
II. Individual Loop Gain

There are five individual loops. Let the individual loop gain be P,, P,.P,.P, and P,.
Loop gain of individual loop-1, P,=-G,G,G,
Loop gain of individual loop-2, P =-G,G,H,
Loop gain of individual loop-3, Pa =-G,G,H,
Loop gain of individualloop-4, Pa, =-G,G,
Loop gain of individualloop-5, Ps =-G,H,
1 G, G, G
G,
4 5 6 8
1

10
-H,
Fig7:
l
Fig 6 : loop-1.

5 6 8
5

Fig 8 : loop-3.
H
10
-H,
Fig
10:lo
G
7
1

10

Fig 9 : loop-4.
1
 Gain Products of Two Non-touching Loops
There are no possible combinations of two non-touching loops, three
non-touching loops, etc.,.

IV. Calculation of A and A,

A=1-(P,+ P +P,+P4,+Psl =1+G,G,G,+G,G,H, + G,G,H, + G,G, + G,H,

Since no part of graph is non touching with forward paths-1 and 2, A, =A,= 1.

V. Transfer Function, T

By Mason's gain formula the transfer function, T is given by,

T-12P-PA,+P,a|
G,G,G,+ GG4
1+G,G,G,+ G,G,H,+ G,G,H,+ G,G, +G,H,

EXAMPLE 1.32

Convert the block diagram to signal flow graph and determine the transfer function using Mason's gain formula.

C(s)
R(s)

H.

Fig 1

SOLUTION

The nodes are assigned at input, output, at every summing point & branch point as shown in fig 2.

C(s)
R(s)
6 8
1
2 7

Fig 2

diagram shown in fig 3.

The signal flow graph for the above block
is

-H,
R(s) 1 G,
G G 1 1 C(s)

6 8
4
1

H,
9 G. Fig 3

Forward Path Gains

There are two forward path, . K=2.

Let the forward path gains be P, and P,

 Cortey
G,
R(s) 1 G

4 5 6
1 2
Fig 4:
Forwardpath-1
1
R(s)

1 2 5 6

Fig
G 5:Forward pat

Gain of forward path-1, P,= G,G,G,

Gain of forward path-2, P=G,

Il. IndividualLoop Gain

loops with gains P,.Pa, and P1:

There are three individual

-H, G,
G

4 G,
4< 5
6
9 H.
9
Fig 6:loop-1. Fig 7: loop-2. Fig 8: loop-3.

Gain of individual loop-1, P,,= G,G,H,

Gain of individual loop-2, Pa,=-G,G,H,

Gain of individual loop-3, P,= -G,H,

III. Gain Products of Two Non-touching Loops

There are no possible combinations of two-non touching loops, three non-touching loops, tc.,

IV. Calculation of A and A

A = 1-[P,, +P, +P]= 1 -G,G,H,+ G,G,H,+ G,H,

Since no part of graphtouches forward path-1, A, =1.

The part of graph non touching forward path-2 is shown in fig 9.

.. A, = 1- [G,G,H,-G,G,H, -G,H)
G, G
=1 -G,G,H,+ G,G,H, +G„H,
V. Transfer Function,T

By Mason's gain formula the transfer function, T is given by,

T=PkAk 1
=PA+ P,a,] (Numberof forward paths is 2 and soK=2)

-G,G,G,+G,(1-G,G,H+G,G,H, + G,H,)|

-G,G,G,+G,-G,G,G,H,+G,G,G,H,+G,G,H|
GG,G,+G4-G,G,G4H, + G,G,G,H,+G,G,H,
1-G,G,H,t G,G,H, + G,H,
EXAMPLE 1.33
Draw a signal flow graph and evaluate the closed loop transfer of a system
function whose block diagram 1s

shown in fig 1.

R(S) C(s)
G G

SOLUTION Fig 1

The nodes are assigned at input, output, at every summing point & branch point as shown in fig

2.
G G,
2 4 6

H, H,
8

Fig 2
The signal flow graph for the blockdiagram of fig 2, is shown in fig 3.

-G,
1
G, G
4 5
1

H,
Fig 3
I. Forward Path Gains

There are four foward paths, .. K=4

Let the forward path gains be P,, P, P, and P:
1
G,
4 5 6 7
1 3
Fig 4: Forwardpath-1.

1 1 G,

4 7
Fig 5: Forward path-2.
1

G,
4 5
1

Fig 6: Forward path-3.

G,
5 6 7

Fig 7: Fonward path-4.

8
 Contrk
Gain of foward path-1, P,= G,G,
Gain of foward path-2, P,= -G,G,
Gain of forward path-3, P, = G,G,G,H,
Gain of forwardpath-4, P,=-G,G,G,H,
II. Individual Loop Gain
There are two individual loops, let individual loop gains be P,, and P,

G,
5 6
H,
8
Fig 8 :loop-l
Loop gain of individual

Loop gain of individual

loop-1,

loop-2,
P,=-G,G,H,H,
Pa, = G,G,H,H,
Fig 9 :loop-2

III. Gain Products of Two Non-touching Loops

There are no possible combinations of two non-touching loops, three non-touching
loops, etc

Calculation of A and A
A=1- (sum of individual loop gain ]= 1- (P,,+P)
= 1-(-G,G,H,H,+ G,G,H,H,J = 1+G,G,H,H,- G,G,H,H,
Since no part of graph is non touching with the forward paths, A, =
A,= A, = A, = 1.
V. Transfer Function,T

By Mason's gain formula the transfer function, T is given by,

T-RAx = P,+P,+P,+P, (Number

K
of forward paths is 4 andso K =4)
G,G,-G,G,+ G,G,G,H,-G,G,G,H,
1+G,G,H,H,-G,G,HH,
G,(G,-G) +G,G,H,(G,-G,) G,(G,-G,)(1 +G,H,)
1+G,H,H,(G,-G,) 1+G,H,H,(G,-G)
1.15 SHORT QUESTIONSAND ANSWERS
Q1.1 What is system?
When a number of elements or components are connected in a sequenceto perform a specifc

the group thus formed is called a system.

What is control system?

A system consists of a number of components connected together to
perform a specificfunct
system when the output quantity is controlled by varying the input then the
systemé
quantity,
control system.The output quantityis called controlled variable quantiy
or responseand input
command signal or excitation.

01.3 What are the two major type of control systems?

The two major type of control systemsareopen loop and closed loop systems.

Q1.4 Define open loop system.

cal
are
The control systemin which the output quantity has no effect upon the input quantity
loop control system. This meansthat the output is not fedbackto the input for correction.
 1-Syste
Chapter

loop system.
Defneclosed has an upon the input quantity orderto
which the output
effect in maintain the
systemsin
Thecontrol
closed loop control Isystems.
value are
called

desired output
What ype offeedback is employed in control system?
What is feedback?
action in which the output is sampled and la proportional signal is given to
is a control
The feedback output.
of any changes in desired
inout for automatic correction
in control system.
Negative feedbackis employed
feedback of control system
?
oLWhatarethe components system are plant, feedbackpath elements, error detector and
hecomponents
of feedback control

controller.
error detector
Open loop
Controller
system (Plant)
Output
Reference input

Feedback

aclosed loop system?

oLAWhy negative feedback is invariably preferred in

state and rejects any disturbance signals. It

The negative feedbackresults in better stability in steady
to parametervaiations. Hence negative
feedbackis preferred in closed loop
also has low sensitivity

systems.

QL9What are the characteristics ofnegative feedback?

The characteristics of negative feedbackare as follows :

0 accuracy in tracking steady state value.

() rejection of disturbance signals.

() low sensitivity to parametervariations.

(iv) reduction in gain at the expense of better stability.

What is the effect positive feedback on stability?

of
and drives the output to instability. But sometimes
The positive feedbackincreases the error signal

systems to amplify certain internal signals or

the positive feedback is used in minor loopsin control

parameters.

Q.la Distinguish betwecn open loop and closed loop system.

Open loop Closed loop

1. Inaccurate & unreliable. 1. Accurate & reliable.

2.Simpieand economical. 2. Complex and costly.
external disturbances
3.Changes in output due to external Changes in output due to
3.
disturbances are not corrected automatically. are corrected automatically.
needed to designa stable system.
4.Great efforts are
4. They aregenerally stable.

What is servomechanism?
the output is mechanical position (ortime
he servomechanismis a feedbackcontrol system in which
derivatives of position e.g. velocity and acceleration)

ofhomogenity(or) State the principle of

superposition.
alalethe principle
if the system has responsesc,(t)
and c.(t)
Iheprinciple of superposition and homogenitystates that
response to the linear combination of these
or the inputs r.(t) and r.(t) respectively then the system
of the individual outputs a,c, (t) + a,c,(t), where a,
input a,r, (t) +a.r.(t) is given by linear combination
and a,are constants.
Q1.14 Define linear system.
obeys the principle of superposition and
A system is
that the response
said to be
a
linear,

system to
if it

a weighed sum :
signalsis equal tothe
of homogenity, wh

of
each of the individual input
ofthe system to signals. Thecorresponding we
of the responses Concept of
linea
diagrammatically shown below.

a,r,(t)

r(t) a,

System
System
a,r,(t) + a,r,(t)
G

r(t) - a,r,(t)
If c,(t)
=
a,c(t)
then system G
+ a,c{t)
System is linear

:
Fig Q1.14 Principle of linearity and superposition.
Q1.15 What is time invariant system?
A system is said to be time
invariantif its input-output characteristics
time invariant system
can be represented by do not change with tine
constant coefficient
varying systemsthe differential equations.(lnint
coefficients of the
differential equation
Q1.16 governingthe systemare function
Define transferfunction.
The transfer function of a
system is defined as the ratio of
transform of inputwith
zero initial
Laplace transform of
conditions. (It is also output to

response of system with zero defined asthe Laplace

initial transform of the
conditions).
Q1.17 What arethe basic
elements used for
modelling
The model of mechanical mechanicaltranslational
translationalsystem can system?
spring and dashpot.
be obtained by
using three basic elemets
1,18 Write the force
balance equation
of ideal mass
Let aforcef element.
be appliedto an ideal
mass M. The
to acceleration. mass will offer an
opposing force, f, whichis p

Q1.19 Write theforce f

balance
equation ofideal
Let aforce f dashpot.
be applied to
an ideal
an opposing dashpot, with
viscous
force, f,which is frictional
proportional to coefficient B. The dashpot
velocity.

dt

B reference f
Write the force
balance equation ofideal spring.
Let a force f be applied to an ideal
force, spring with
f, which is proportional spring constant an d
to displacement. K. will offer
The spring

f+ -000
f=f=Kx K

reference 000 fafKiN

K