BMIA 3313

CONTROL SYSTEMS

WEEK 1B Input + Error

Plant
Output

TOPIC 2: SYSTEM -

REPRESENTATIONS Feedback
Sensor output

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Lesson Objectives:
At the end of this lesson, you should be
able to:
i. Give the definition of transfer function
ii. Recognise the common interconnections in
block diagram
iii. Reduce multiple subsystems using block
diagram algebra
iv. Differentiate between conventional and
modern control theory representations

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 Transfer Function
• Transfer function
• The most common representation of a control system.
• Can be defined as;
‘the ratio of the Laplace transform of the output and the input’

𝑂𝑢𝑡𝑝𝑢𝑡, 𝐶(𝑠) C(s) bm s m + bm−1 sm−1 +…+ b0 General form

𝑆𝑦𝑠𝑡𝑒𝑚 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛, 𝐺 𝑠 =
𝐼𝑛𝑝𝑢𝑡, 𝑅(𝑠) = of a transfer
R(s) an s n + a n−1 sn−1 +…+ a0 function

G(s)
• Separate input, output, and system to 3 distinct parts for easy analysis compare to differential
equation where they appear throughout the equation
• Only applicable for linear, time invariant system
• Useful in representing interconnection of multiple subsystems by forming block diagram (each block
contain a single transfer function)

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 Transfer Function
• Linearity means that the relationship between the
input and the output are the
result of linear differential equations.
• Time invariance means that whether we apply an
input to the system now or T seconds from now,
the output will be identical except for a time delay
of T seconds.

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 Block Diagram Algebra
• Complex system such as the space
shuttle shown usually consists of
multiple subsystems (i.e. multiple
interconnected transfer functions).

• For convenient analysis, a single

transfer function is sought by using
block diagram algebra.

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 Cascaded/Series system

Reduce – involves multiplication

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 Parallel System Signs at summing
junction is important

Reduce –
involves
summation

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 Feedback control system

Reduce

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 Unity Feedback System
Common representation
Feedback value = 1 of unity feedback system

𝑅(𝑠) + 𝐸(𝑠) 𝐶(𝑠) 𝑅(𝑠) + 𝐸(𝑠) 𝐶(𝑠)

𝐺(𝑠) 𝐺(𝑠)

∓ ∓

𝑅(𝑠) 𝐶(𝑠)
𝐺(𝑠)
1±𝐺 𝑠

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 𝐺2 𝑠
Example 1 𝐺𝑒1 𝑠 =
1 + 𝐺2 𝑠 𝐻1 𝑠
50 50
= 𝑠+1 = 𝑠+1
1 + 50 2 1 + 100
f/back loop 𝑠+1 𝑠 𝑠(𝑠 + 1)
50
𝑠+1 50𝑠
= =
𝑠 𝑠 + 1 + 100 𝑠2 + 𝑠 + 100
𝑠(𝑠 + 1)

Step 1: Combine the inner f/back loop

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 Example 1 (cont’d)
parallel loop Step 2: Combine the parallel loop

Reduced
parallel loop

𝐺𝑒2 𝑠 = 𝐺3 𝑠 + 𝐺4(𝑠)
=𝑠−2

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 Example 1 (cont’d)
Step 2: Multiply forward path (cascade)

Reduce - multiplication

𝐺𝑒3 𝑠 = 𝐺1 𝑠 ∙ 𝐺𝑒1(𝑠) ∙ 𝐺𝑒2(𝑠)

1 50𝑠
= 2 ∙ 2 ∙ 𝑠−2
𝑠 𝑠 + 𝑠 + 100
R(s) + 50(𝑠 − 2) C(s) 50(𝑠 − 2)
=
𝑠 (𝑠2 + 𝑠 + 100) 𝑠(𝑠2 + 𝑠 + 100)
-

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 Example 1 (cont’d)
Step 3: Apply f/back formula

𝐺𝑒3(𝑠) R(s) + 50(𝑠 − 2) C(s)

𝑇 𝑠 =
1 + 𝐺𝑒3(𝑠)𝐻2(𝑠) 𝑠 (𝑠2 + 𝑠 + 100)
50(𝑠−2) -
𝑠 (𝑠2+𝑠+100)
= 50 𝑠−2
1+ 2 (1)
𝑠 𝑠 +𝑠+100
50(𝑠 − 2)
𝑠 (𝑠2 + 𝑠 + 100)
= Final answer:
𝑠 𝑠2 + 𝑠 + 100 + 50(𝑠 − 2)
equivalent single
𝑠 (𝑠2 + 𝑠 + 100)
transfer function
50(𝑠 − 2)
=
𝑠3 + 𝑠2 + 150𝑠 − 100

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 Moving a block AHEAD of a summing junction

Move

Transform
to

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 Moving a block BEHIND a summing junction

Move

Transform
to

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 Moving a block AHEAD of pick-off point
Move

Transform
to

Pick-off
point

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 Moving a block BEHIND a pick-off point
Move

Transform
to

Pick-off
point

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 Example 2
Reduce the block diagram below to a single transfer function.
Move ahead of
pick-off point

1
𝐻𝑒1 𝑠 = =𝑠+3
1
𝑠+3

New value of
feedback due to
Step 1: Move block 1/s+3 ahead of pick-off point block movement
New position of
block and pick-off
point

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 Example 2 (cont’d) Move behind
summing junction

Step 2: Move block 1/s+2 behind summing junction 2

Collapse the two

summing junction &
transform to

New position of block, summing 5𝑠 1 summing junction left

junction & new value for feedback 𝐻𝑒2 𝑠 = = 5𝑠(𝑠 + 2)
1
due to block movement
𝑠+2
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 Example 2 (cont’d) Step 3: Parallel feedback & cascade

Parallel feedback
Cascade
(summation)
(multiplication)

1 1
𝐺𝑒 𝑠 = ∙
𝑠+2 𝑠+3
= 2 1 New feedforward block
New feedback block value
𝑠 +5𝑠+6 value due to multiplication
due to summation

𝐻𝑒3 𝑠 = − 𝑠 + 3 − 5𝑠 𝑠 + 2
= −(5𝑠2 + 11𝑠 + 3)

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 Example 2 (cont’d)
Step 4: Feedback formula

1
𝑇 𝑠 = 𝑠2 + 5𝑠 + 6
1
1 + 𝑠2 + 5𝑠 2
+ 6 ∙ 5𝑠 + 11𝑠 + 3
1
= 2
6𝑠 +16𝑠+9

Why don’t you try a

different way to
solve this
question?
Equivalent single block
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 Exercise
Find the equivalent transfer function, T(s)=C(s)/R(s) for the system below

𝑠3 +1
Ans: 𝑇 𝑠 =
2𝑠4+𝑠2+2𝑠

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 Solution exercise

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 System Representations in Modern Control Theory
• Transfer function & block diagram conventional control system theory

• Modern control system theory state-space model

Advantages

➢ Unified approach of modelling, analysis and design of control system because it

can cover non-linear, time varying
➢ Complex systems can be modelled, analysed and designed using computer
simulation based on modern control theory
➢ It also emphasise on state variables

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 System Representations in Modern Control Theory (cont’d)
• Disadvantages of modern control theory:
• not as intuitive as conventional
• involves several calculations before the model physical interpretation become apparent
• Thus, conventional control theory is more commonly used in the industry
because:
• Rapidly provide stability and transient response information
• Easier to use for analysis and design of control system
• Effect of varying system parameters can be seen immediately until acceptable design is met
(i.e. can be seen through poles location & design of gain can be made for straightforward
system)

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 Differences between Classical & Modern Control Theory
Classical Control Theory Modern Control Theory

• Frequency domain • Time domain

• Single input, single output (SISO) • Multiple input, multiple output (MIMO)
• e.g. a vehicle with input direction and input
• Linear, time invariant (LTI)
velocity yielding an output direction and
• A system can be assumed linear if the output velocity
response to several inputs can be
• Nonlinear, time varying
calculated by treating one input at a time
and adding the results • Example of nonlinear system: system with
backlash, saturation, dead zone, non-zero
• Nonlinearities & distributed parameters
initial condition
can be ignored if the effect on the
• Example of time varying system: the mass
response is small (approximation into
of a spacecraft changes due to fuel
linear) – e.g. neglecting of mass of
consumption, lift force in an aircraft flying
spring through a wide range of altitudes
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Modern control theory
If classical control theory uses transfer function to describe the relationship between
input and output, in modern control theory the representation is by using state &
output equations.
The general form of state-space representation:
State equation, 𝑥ሶ = 𝐴𝑥 + 𝐵𝑢
Output equation, 𝑦 = 𝐶𝑥 + 𝐷𝑢
for MIMO system, 𝑡 ≥ 0 and initial conditions, 𝑥(𝑡0 );
𝑥 = 𝑠𝑡𝑎𝑡𝑒 𝑣𝑒𝑐𝑡𝑜𝑟, 𝑐𝑜𝑛𝑡𝑎𝑖𝑛𝑠 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒𝑠
𝑥ሶ = 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑣𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑒𝑐𝑡𝑜𝑟 𝑤𝑖𝑡ℎ 𝑟𝑒𝑠𝑝𝑒𝑐𝑡 𝑡𝑜 𝑡𝑖𝑚𝑒
𝑦 = 𝑜𝑢𝑡𝑝𝑢𝑡 𝑣𝑒𝑐𝑡𝑜𝑟
𝑢 = 𝑖𝑛𝑝𝑢𝑡 𝑜𝑟 𝑐𝑜𝑛𝑡𝑟𝑜𝑙 𝑣𝑒𝑐𝑡𝑜𝑟
𝐴 = 𝑠𝑦𝑠𝑡𝑒𝑚 𝑚𝑎𝑡𝑟𝑖𝑥
𝐵 = 𝑖𝑛𝑝𝑢𝑡 𝑚𝑎𝑡𝑟𝑖𝑥
𝐶 = 𝑜𝑢𝑡𝑝𝑢𝑡 𝑚𝑎𝑡𝑟𝑖𝑥
𝐷 = 𝑓𝑒𝑒𝑑𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑚𝑎𝑡𝑟𝑖𝑥
Modern control theory (cont’d)
Consider the following DE;
dny d n −1 y d y y = measure variable, u = input.
n
+ an −1 n −1 +  + + a0 y = b0u
dt dt dt
 x1   0 1 0  0   x1   0 
x   0 0 1  0   x2   0 
d 
2  
  =         +   
dt       
 n −1   0
x 0 0  1   xn −1   0 
 xn  − a0 − a1 − a2  − an −1   xn  b0 
Note the transfer function format
 x1  Vector-matrix form
Y ( s) b0 x 
= n  2  in
U ( s) s + a n −1 s n −1 ++a1 s1 + a 0 y = 1 0 0  0   Phase-variable
 
x
 n −1 
 xn 
Modern control theory (cont’d)
Signal Flow Graphs (SFGs) are an Adjacent to the line, TF is written
alternative to block diagram A signal is a node with the signal’s
SFGs use in state-space while block name written adjacent to the node
diagram commonly use in frequency
response
A SFG consists only branches which
represent systems and nodes which
System
represent signals
A system is represented by a line Signal
with an arrow showing the direction
of signal flow through the system

29
Modern control theory (cont’d)
Example of converting block diagram into SFGs;
Relationships between transfer function and state space equations

State-space transformations
Example application of modern control system theory
2. Signal-flow graph representation of the UFSS vehicle’s
pitch-control system:
Alvin, a manned a. without position and rate feedback;
submersible, b. with position and rate feedback (Note: Explicitly required
explored the variables are: x1 = , x2 = d/dt, and x4 =e)
wreckage of the
Titanic with a
tethered robot,
Jason Junior.

1. Block diagram of the UFSS vehicle’s elevator and vehicle

dynamics, from which a signal-flow graph can be drawn
 Any question?

End of Lecture

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