Introduction

• A Block Diagram is a shorthand pictorial representation of

the cause-and-effect relationship of a system.

• The interior of the rectangle represent 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
 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.

 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.
 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  a2 x2  5
Canonical Form of A Feedback Control System
 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
 Example-4
G(s )

H (s )

B( s )
1. Open loop transfer function  G( s ) H ( s )
E( s )
2. Feed Forward Transfer function C( s )
 G( s )
E( s )
C( s ) G( s )
3. closed loop transfer function 
R( s ) 1  G( s )H ( s )

4. characteristic equation 1  G( s )H ( s )  0
 In order to analyze the system, we want to
represent multiple subsystems as a single transfer
function.
Reduction techniques

1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel (feed-forward)

G1
G1  G2
G2
3. Eliminating a feedback loop

G 𝑮
𝟏 ∓ 𝑮𝑯
H

OR

A 𝑨
B 𝑩 ∓ 𝑨𝑯

H
4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
6. Moving a summing point ahead of a block

G G
1
G

7. Moving a summing point behind a block

G G
G
Note

A B B A
 Example 1

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Example
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example
H2
G1
R _ C
G1G2
+_ + G3
1  G1G2 H 1
 Example
H2
G1
R _ C
G1G2G3
+_ +
1  G1G2 H 1
 Example

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
 Example

R G1G2G3 C
1  G1G2 H 1  G2G3 H 2  G1G2G3
 Example 2
Find the transfer function of the following block diagrams

G4
R (s ) Y (s )
G1 G2 G3

H2

H1
 I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:

1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4  G2G3
 G4
R(s )
GG4 
B A G2 G3
Y (s )
G1 2 G 3

H2
H 1G2

3. Moving pickoff point B behind block G4  G2G3

II
R(s ) B C
Y (s )
G1 G4  G2G3
H2
H 1G2 1 /(G4  G2G3 )
4. Eliminate loop III

R(s ) Y (s )
G1 GG4 4GG2G2G3 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 )

T ( s)  
R ( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2G3 )
 Example 3
Find the transfer function of the following block diagrams

R(s ) Y (s )
G1 G2

H1 H2

H3
Solution:

1. Eliminate loop I

R(s ) A
G2 I
B
Y (s )
G1 G2
H1
1  GH2 H
2
2

H3
G2
2. Moving pickoff point A behind block
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
3. Eliminate loop II

R(s ) G1G2 Y (s )
1  G2 H 2

H 1 (1  G2 H 2 )
H3 
G2

Y (s) G1G2
T ( s)  
R( s) 1  G2 H 2  G1G2 H 3  G1 H1  G1G2 H1 H 2
 Example 4
Find the transfer function of the following block diagrams

H4
R(s ) Y (s )
G1 G2 G3 G4

H3

H2

H1
 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
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 H 1
1  G3G4 H 4  G2G3 H 3 G4
 3. Eliminate loop II & IIII

R(s ) G1G2G3G4 Y (s )
1  G3G4 H 4  G2G3 H 3

H 2  G4 H 1
G4

Y ( s) G1G2G3G4
T ( s)  
R( s ) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1
 Example 5
Find the transfer function of the following block diagrams

H2

R(s ) A Y (s )
G1 G2 G3
B

H1

G4
Solution:

1. Moving pickoff point A behind block G3

I
H2

R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
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
3. Eliminate loop II

R(s ) G1G2G3 Y (s )
1  G2 H 1  G2G3 H 2  G1G2 H 1

G4

Y (s) G1G2G3
T (s)   G4 
R( s) 1  G2 H1  G2G3 H 2  G1G2 H1
End of Lec 3
Example-5: Continue.
Example-6: Reduce the Block Diagram.
Example-6: Continue.
Example-7: Reduce the Block Diagram. (from Nise: page-242)
Example-7: Continue.
Example-8: Reduce the system to a single transfer function.
(from Nise:page-243).
Example-9: Simplify the block diagram then obtain the close-
loop transfer function C(S)/R(S). (from Ogata: Page-47)
Example-10: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
Example-11: Continue.
Example-11: Continue.
Example-19: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-19: Continue.
Example-19: Continue.
Example-20: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-20: Continue.
 Example-20: Continue.

When R1 = 0,

When R2 = 0,
Example-5: Reduce the Block Diagram to Canonical Form.
 Example-5: Continue.

However in this example step-4 does not apply.

However in this example step-6 does not apply.

 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.
 Example-6
– First we will reduce the given block diagram to canonical form

K
s 1
 Example-6

K
s 1

K
 s 1
G
1  GH K
1 s
s 1
 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.
Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J


La s  Ra I a(s)  K b(s)  Va(s)

Js  c (s)  K ma I a(s)

Block Diagram of Armature Controlled D.C Motor

La s  Ra I a(s)  K b(s)  Ea(s)

Block Diagram of Armature Controlled D.C Motor

Js  c (s)  K ma I a(s)

Block Diagram of Armature Controlled D.C Motor
Block Diagram of liquid level system

h1  h2 dh1
q1  C1  q  q1
R1 dt

h2
q2  C2
dh2
 q1  q 2
R2 dt
 Block Diagram of liquid level system
h1  h2
L q1  C1
dh1
 q  q1
R1 dt L

H1 ( s )  H 2 ( s )
Q1 ( s )  C1sH1 ( s )  Q( s )  Q1 ( s )
R1

h2
q2  dh2
R2 C2  q1  q 2
L dt L

H 2 (s) C2 sH 2 ( s )  Q1 ( s )  Q2 ( s )
Q2 ( s ) 
R2
 Block Diagram of liquid level system
H1 ( s )  H 2 ( s ) C1sH1 ( s )  Q( s )  Q1 ( s )
Q1 ( s ) 
R1

H 2 (s) C2 sH 2 ( s )  Q1 ( s )  Q2 ( s )
Q2 ( s ) 
R2
Block Diagram of liquid level system