EE3011: Modelling and Control

System Modelling
(Block Diagrams)
Prof Soh Yeng Chai
 EE3011: Modelling and Control

Learning Objectives
At the end of the lecture, you should be able to:
 Describe the representation of a linear system by a set of
differential equations, transfer functions or an
interconnected block diagram.
 Derive closed-loop transfer function of a single-loop block
diagram, whether it is negative or positive feedback.
 Analyse and simplify a multi-loop block diagram to produce
an overall closed-loop transfer function.

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 EE3011: Modelling and Control

Lecture Outline
I. Linear Systems
II. Differential Equations
III. Transfer Functions
IV. Block Diagrams
V. Multi-loop Block Diagrams

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 EE3011: Modelling and Control

Linear Systems
 EE3011: Modelling and Control

Linear Systems
In order to solve a control system problem, the descriptions of the
system and its components must be put into a form suitable for
analysis and evaluation.

Methods to model Physical Components and Systems

1. Differential Equations
2. Transfer Functions
3. Block Diagrams
4. State-Space Model

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 EE3011: Modelling and Control

Linear Systems
Our focus will be on linear systems. A system is linear if it obeys the
principle of superposition and homogeneity, i.e.,

If 𝑟1 𝑡 produces 𝑦1 𝑡
and 𝑟2 𝑡 produces 𝑦2 𝑡

𝑟 𝑡 = 𝑟𝑖 𝑡 𝑦 𝑡 = 𝑦𝑖 𝑡
Linear System
𝑟 𝑡 = 𝑟1 𝑡 + 𝑟2 𝑡 𝑦 𝑡 = 𝑦1 𝑡 + 𝑦2 𝑡

then, 𝑟1 𝑡 + 𝑟2 𝑡 produces 𝑦1 𝑡 + 𝑦2 𝑡
and 𝑎𝑟1 𝑡 + 𝑏𝑟2 𝑡 produces 𝑎𝑦1 𝑡 + 𝑏𝑦2 𝑡
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 EE3011: Modelling and Control

Differential Equations
 EE3011: Modelling and Control

Differential Equations

The input/ output relationship for a linear system takes the form of a linear
differential equation.
r(t) y(t)
Linear System

In general, the differential equation for the input/output relationship is:

𝑛 𝑚
𝑑𝑖 𝑑𝑖
𝑎𝑖 𝑖 𝑦 𝑡 = 𝑏𝑖 𝑖 𝑟 𝑡 (1)
𝑑𝑡 𝑑𝑡
𝑖=0 𝑖=0

For physical systems, 𝒏 ≥ 𝒎.

We say that these systems are causal systems.
We can apply Laplace Transformation to linear differential equations to
obtain transfer functions that describe the behaviour of the systems.
See Appendix 2.1 for a brief review of Laplace Transform.
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 EE3011: Modelling and Control

Transfer Functions
 EE3011: Modelling and Control

Transfer Functions
Taking Laplace transform of (1), assuming zero initial conditions, we obtain
 n a s i Y ( s )   m b s i  R( s )
 i   i 
 i 0   i 0 
where Y(s) and R(s) are the Laplace transforms of y(t) and r(t).

The transfer function of the system is given by

𝑚 𝑖
𝑌 𝑠 𝑖=𝑜 𝑏𝑖 𝑠 (2)
𝑇 𝑠 = = 𝑛 𝑖
𝑅 𝑠 𝑖=0 𝑎𝑖 𝑠

The transfer function describes the input-output behaviour of the system.

In (2), the system is of order n.

In block diagram representation, we have

R(s) Y(s) = T(s)R(s)
T(s)
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 EE3011: Modelling and Control

Block Diagrams
 EE3011: Modelling and Control

Block Diagrams
Block diagrams are used to give the functional representation of control
systems. Three main symbols are:
1. Summer or Comparator

R + E =R+Y R + E =R-Y

+ -
Y Y

2. Element Block and Cascaded Blocks

G2.G1
E Y =G.E E Y =(G2.G1).E
G G1 G2

3. Take-off Point
Y
R
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 EE3011: Modelling and Control

Block Diagrams
Example: Parallel paths

+ Y(s)
G(s)
R(s) +
H(s) Y(s) = (G(s) + H(s)) R(s)

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 EE3011: Modelling and Control

Block Diagrams
Example: Feedback block
A feedback servomechanism (e.g., in the case of the elevator system) with negative
feedback is represented as:

Compensating network Amplifier Motor + fixture

R(s) + Y(s)
Gc(s) A(s) Gm(s)
-
Feedback network

H(s)

Y(s) may be the displacement, velocity or acceleration.

To analyze the behaviour of the system, we need to derive the relationship
between Y(s) and R(s).

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 EE3011: Modelling and Control

Block Diagrams
Generalised Block Diagrams (single-input single-output systems)
R(s) + E(s) Y(s)
G(s)
-

B(s)
H(s)

R(s) = reference input

Y(s) = controlled output
E(s) = actuating error
B(s) = feedback variable
G(s) = forward transfer function (FTF)
H(s) = feedback transfer function
G(s)H(s) = loop transfer function or open loop transfer function (OLTF)
𝑌 (𝑠)
= overall transfer function or closed-loop transfer function (CLTF)
𝑅 (𝑠)
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 EE3011: Modelling and Control

Block Diagrams
Clearly,
Y 𝑠 =𝐺 𝑠 𝐸 𝑠
E 𝑒 =𝑅 𝑠 −𝐵 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝑌 𝑠
 Y 𝑠 =𝐺 𝑠 𝑅 𝑠 −𝐺 𝑠 𝐻 𝑠 𝑌 𝑠
⇒ 1+𝐺 𝑠 𝐻 𝑠 𝑌 𝑠 =𝐺 𝑠 𝑅 𝑠
𝑌 𝑠 𝐺 𝑠 𝐹𝑇𝐹
i.e., = 1+𝐺 = 1+𝑂𝐿𝑇𝐹
𝑅 𝑠 𝑠 𝐻 𝑠

1 + G(s)H(s) = 0 is referred to as the characteristic equation of the system.

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

 EE3011: Modelling and Control

Multi-loop Block Diagrams

The block diagrams of many practical systems contain several interacting
loops. Such a complex block diagram can be simplified by block diagram
algebra.

Two points to note when simplifying the block diagrams:

1. The product of the transfer functions in the loop forward path must
remain the same.
2. The product of the transfer functions around the loop must remain
the same (see Appendix 2.3 for some standard manipulations).

“Mason’s Gain Formula” can also be applied to determine the overall

transfer function. Interested students can refer to the book by B. C. Kuo.

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

Question 1
Three basic and useful block diagram manipulations are illustrated
below. You will verify the equivalence by checking the consistency
of the signals.

R a Y R Y
G G
Z Z
H H G

R a Y R Y
G G
Z Z
H 1
H
𝐺
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 EE3011: Modelling and Control

Multi-loop Block Diagrams

R + Y R + Y
G G
- -
H G H

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

The main idea is that, after each manipulation, certain part of the system
will yield a standard form (e.g., single-loop or parallel paths), which can
then be simplified into a single block.

Example: Find the overall transfer function for the following block
diagram:
G4
R + x + Y
+ G1 + G2 G3 +
- - -
H2
H1

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

i) Move take-off point x backwards, we get
G4
+
R + + + + Y
G1 G2 G3
- - -
H2
G2H1

ii) Combining G2, G3 and G4, we get

R + + + a Y
G1 G2G3+G4
- - -
H2

G2H1
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 EE3011: Modelling and Control

Multi-loop Block Diagrams

iii) Move take off point a forward,
R + + + Y
G1 G2G3+G4
- - -
H2
𝐺2 𝐻𝑧
𝐺2 𝐺3 + 𝐺4

iv) Simplify the inner block

R + + 𝐺1 𝐺2 𝐺3 + 𝐺4 Y
1 + 𝐻2 𝐺2 𝐺3 + 𝐺4
- -
𝐺2 𝐻1
𝐺2 𝐺3 + 𝐺4

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

v) Simplify further
R+ 𝐺1 𝐺2 𝐺3 + 𝐺4 Y
- 1 + 𝐺1 𝐺2 𝐻1 + 𝐻2 𝐺2 𝐺3 + 𝐺4

Finally,
Y G1 (G2G3  G4 )

R 1  G1G2 H1  H 2 (G2G3  G4 )  G1 (G2G3  G4 )

NB: For simplicity of expression, we’ll drop the arguments where

necessary.

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 EE3011: Modelling and Control

Multi-loop Block Diagrams

Alternatively, we can define some auxiliary variables as follows:
G4
+ Y
R+ + +
G2 G3
+
G1
e1 - e2 e3
- -
H2
H1

Then, e1  R  Y
e2  e1  H1G2e3
e3  G1e2  H 2Y
Y  (G4  G2G3 )e3
After eliminating e1 – e3, we will get the same transfer function. Try it.
(See Appendix 2.4)
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 EE3011: Modelling and Control

Summary
 EE3011: Modelling and Control

Summary
The general input/ output relationship of a linear system is expressed as
n
di m
di
i 0
ai i y(t) 
dt

i 0
bi i r(t)
dt
or in Laplace domain:
 n i m i
  ai 
s Y ( s )    bi s  R ( s )
i 0  i 0 

The transfer function of the system defines the input/ output relation
and it is given by:
𝑚 𝑖
𝑌 𝑠 𝑖=𝑜 𝑏𝑖 𝑠
𝑇 𝑠 = = 𝑛 𝑎 𝑠𝑖
𝑅 𝑠 𝑖=0 𝑖

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 EE3011: Modelling and Control

Summary
Block diagrams are used to simplify the representation of complex
systems.

Generalized Block Diagram (single-input single-output systems)

R(s) + E(s) Y(s)
G(s)

H(s)

We want to derive Y(s) as a function of R(s).

𝑌 𝑠 = 𝐺 𝑠 𝑅 𝑠 ∓𝐺 𝑠 𝐻 𝑠 𝑌 𝑠
𝑌(𝑠) 𝐺(𝑠) 𝐹𝑇𝐹
i.e., = =
𝑅(𝑠) 1 ± 𝐺 𝑠 𝐻(𝑠) 1 ± 𝑂𝐿𝑇𝐹
1 + G(s)H(s) = 0 is the characteristic equation of the system.
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 EE3011: Modelling and Control

Summary
If the block diagram contains several interacting loops, it can be
systematically simplified by block diagram algebra.

Two points to note when simplifying the block diagrams:

1. The product of the transfer functions in the loop forward path must
remain the same.

2. The product of the transfer functions around the loop must remain
the same.

One can also define some auxiliary variables and then perform algebraic
manipulations to obtain the transfer function.

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