Control System Theory
Lecture
Block Diagram Representation of Control Systems
Dr. Abdel Gayed Fathy Mohamed
1
Introduction
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.
• The interior of the rectangle representing the block usually
contains a description of or the name of the element, or the
symbol for the mathematical operation to be performed on
the input to yield the output.
• The arrows represent the direction of information or signal
flow.
d
x y
dt
2
Introduction
• The operations of addition and subtraction have a special
representation.
• The block becomes a small circle, called a summing point, with
the appropriate plus or minus sign associated with the arrows
entering the circle.
• The output is the algebraic sum of the inputs.
• Any number of inputs may enter a summing point.
• Some books put a cross in the circle.
3
Introduction
• In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff
point is used.
• This permits the signal to proceed unaltered along
several different paths to several destinations.
4
Example-1
• Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.
x3 a1 x1 a 2 x2 5
5
Example-1
• Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.
x3 a1 x1 a 2 x2 5
6
Example-2
• Consider the following equations in which x1, x2,. . . , xn, are
variables, and a1, a2,. . . , an , are general coefficients or
mathematical operators.
xn a1 x1 a 2 x2 a n 1 x n 1
7
Example-3
• Draw the Block Diagrams of the following equations.
dx1 1
(1) x2 a1 x1dt
dt b
d 2 x2 dx1
( 2) x3 a1 3 bx1
dt 2 dt
8
Canonical Form of A Feedback Control System
9
Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C( s ) G( s )
R( s ) 1 G( s ) H ( s )
• The denominator of closed loop transfer function determines the
characteristic equation of the system.
• Which is usually determined as:
1 G( s ) H ( s ) 0
10
Example-4
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
G( s )
2. Feed Forward Transfer function E ( s )
C( s ) G( s ) G(s )
3. control ratio R( s ) 1 G( s ) H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G ( s ) H ( s )
E( s ) 1 H (s )
5. error ratio R( s ) 1 G( s ) H ( s )
C( s ) G( s )
6. closed loop transfer function R( s ) 1 G( s ) H ( s )
7. characteristic equation 1 G( s ) H ( s ) 0
11
8. closed loop poles and zeros if K=10.
Reduction of Complicated Block
Diagrams
• The block diagram of a practical control system is often
quite complicated.
• It may include several feedback or feedforward loops, and
multiple inputs.
• By means of systematic block diagram reduction, every
multiple loop linear feedback system may be reduced to
canonical form.
12
Reduction techniques
1. Combining blocks in cascade
G1 G2 G1G2
2. Combining blocks in parallel
G1
G1 G2
G2
13
Reduction techniques
3. Moving a summing point behind a block
G G
G
4. Moving a summing point ahead of a block
G G
1
G
14
5. Moving a pickoff point behind a block
G G
1
G
6. Moving a pickoff point ahead of a block
G G
G
15
7. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H 1
8. Swap with two neighboring summing points
A B B A
16
Example-5: Reduce the Block Diagram to Canonical Form.
• Combine all cascade block using rule-1
• Combine all parallel block using rule-2
17
Example-5: Reduce the Block Diagram to Canonical Form.
𝐺 2+ 𝐺3
𝐺1 𝐺 4
18
Example-5: Continue.
• Eliminate all minor feedback loops using rule-7
• After the elimination of minor feedback loop the block diagram is reduced to as shown below
• Again blocks are in cascade are removed using rule-1
19
Example-6
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
20
Example-6
– First we will reduce the given block diagram to canonical form
K
s 1
21
Example-6
K
s 1
K
G
s 1
1 GH K
1 s
s 1
22
Example-6
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
G( s )
2. Feed Forward Transfer function E ( s )
C( s ) G( s ) G(s )
3. control ratio R( s ) 1 G( s ) H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G ( s ) H ( s )
E( s ) 1 H (s )
5. error ratio R( s ) 1 G( s ) H ( s )
C( s ) G( s )
6. closed loop transfer function R( s ) 1 G( s ) H ( s )
7. characteristic equation 1 G( s ) H ( s ) 0
23
8. closed loop poles and zeros if K=10.
Example-7
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.
24
Example-8
H2
R _ C
+_ + G1 + G2 G3
+
H1
25
Example-8
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
26
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
27
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
28
block diagram: reduction example
H2
G1
R _ G1G2 C
+_ + G3
1 G1G2 H1
29
block diagram: reduction example
H2
G1
R _ G1G2G3 C
+_ +
1 G1G2 H1
30
block diagram: reduction example
R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
31
Example 9
Find the transfer function of the following block diagram
G4
R (s ) Y (s )
G1 G2 G3
H2
H1
32
I
G4
R (s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
G2
1. Moving pickoff point A ahead of block
2. Eliminate loop I & simplify
B
G4 G2G3
33
G4
R (s )
GG4
B A G2 G3
Y (s )
G1 2 G 3
H2
H1G2
3. Moving pickoff point B behind block G4 G2G3
II
R (s ) B C
Y (s )
G1 G4 G2G3
H2
H1G2 1 /(G4 G2G3 )
34
4. Eliminate loop III
R (s ) Y (s )
G1 GG4 4GG2G2G3 3
C C
1 H 2 (GH4 2 G2G3 )
G2 H1
G4 G2G3
R (s ) G1 (G4 G2G3 ) Y (s )
1 G1G 2 H1 H 2 (G4 G2G3 )
Y (s) G1 (G4 G2G3 )
R( s ) 1 G1G 2 H 1 H 2 (G4 G2 G3 ) G1 (G4 G2 G3 )
35
Example 10
Find the transfer function of the following block diagrams
R (s ) Y (s )
G1 G2
H1 H2
H3
36
Solution:
1. Eliminate loop I
R (s ) A
G2 I
B
Y (s )
G1 G2
H1
1 GH2 H
2
2
H3
2. Moving pickoff point A behind blockG2
1 G2 H 2
R (s ) A G2 B
Y (s )
G1
1 G2 H 2
1 G2 H 2 II
H1 1 G2 H 2
G2 H 3 H1 ( )
G2
H3 Not a feedback loop 37
3. Eliminate loop II
R (s ) G1G2 Y (s )
1 G2 H 2
H1 (1 G2 H 2 )
H3
G2
Y (s) G1G2
R( s ) 1 G2 H 2 G1G2 H 3 G1 H1 G1G2 H1 H 2
38
Example 11
Find the transfer function of the following block diagrams
H4
R (s ) Y (s )
G1 G2 G3 G4
H3
H2
H1
39
Solution:
1. Moving pickoff point A behind block G4
I
H4
R (s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
40
2. Eliminate loop I and Simplify
R (s ) II Y (s )
G2G3G4 B
G1
1 G3G4 H 4
H3
G4
H2
G4 III
H1
II feedback III Not feedback
G2G3G4 H 2 G4 H1
1 G3G4 H 4 G2G3 H 3 G4
41
3. Eliminate loop II & IIII
R (s ) G1G2G3G4 Y (s )
1 G3G4 H 4 G2G3 H 3
H 2 G4 H1
G4
Y (s) G1G2G3G4
R( s ) 1 G2G3 H 3 G3G4 H 4 G1G2G3 H 2 G1G2G3G4 H1
42
Example 12
Find the transfer function of the following block diagrams
H2
R (s ) A Y (s )
G1 G2 G3 B
H1
G4
43
Solution:
G3
1. Moving pickoff point A behind block
I
H2
R (s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
44
2. Eliminate loop I & Simplify
H2
B
G2 G3 B G2G3
1 H1
H2
H1 G3 G3
II
R (s ) G2G3 Y (s )
G1
1 G2 H1 G2G3 H 2
H1
G3
G4 45
3. Eliminate loop II
R (s ) G1G2G3 Y (s )
1 G2 H1 G2G3 H 2 G1G2 H1
G4
Y (s) G1G2G3
T (s) G4
R( s) 1 G2 H1 G2G3 H 2 G1G2 H1
46
Example-13: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
47
Example-13: Continue.
48
Example-13: Continue.
49
Example-14: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
50
Example-14: Continue.
51
Example-14: Continue.
52
Example-15: Multi-Input Multi-Output System. Determine C1 and C2 due to R1 and
R2.
53
Example-15: Continue.
54
Example-15: Continue.
When R1 = 0,
When R2 = 0,
55
END OF LECTURE
56
