Control Systems I
Block Diagrams & Signal Graphs
by Mr L. Simukonda
Block Diagrams
• In the introductory section we saw examples of block diagrams to represent systems,
e.g.:
• Block diagrams consist of
• Blocks – these represent subsystems – typically modeled by, and labeled with, a transfer function.
• Signals – inputs and outputs of blocks – signal direction indicated by arrows – could be voltage,
velocity, force, etc.
• Summing junctions – points were signals are algebraically summed – subtraction indicated
by a negative sign near where the signal joins the summing junction.
Block Diagrams
Standard Block Diagram Forms
• The basic input/output relationship for a single block is:
• Y ( s)= U ( s)⋅ G ( s)
• Block diagram blocks can be connected in three basic forms:
– Cascade
– Parallel
– Feedback
• We’ll next look at each of these forms and derive a single‐ block equivalent for
each
Block Diagrams
Cascade Form
• Blocks connected in cascade:
• The equivalent transfer function of cascaded blocks is the product of the
individual transfer functions
Block Diagrams
Parallel Form
• Blocks connected in parallel:
• The equivalent transfer function is the sum of the individual transfer functions:
Block Diagrams
Feedback Form
• Of obvious interest to us, is the feedback form:
• The closed-loop transfer function, is
Block Diagrams
Feedback Form
• Note that this is negative feedback, for positive feedback:
• The G(s) H(s) factor in the denominator is the loop gain or open-loop transfer function.
• The gain from input to output with the feedback path broken is the forward path gain –
here,G(s)
• In general:
Block Diagrams
Closed‐ Loop Transfer Function ‐ Example
• Calculate the closed-loop transfer function
• D(s) and G(s) are in cascade
• H1(s) is in cascade with the feedback system consisting of D(s),G(s) and
H2(s)
•
Block Diagrams
Unity‐ Feedback Systems
• We’re often interested in unity‐ feedback systems (where H(s)=1)
• Feedback path gain is unity
• Closed‐ loop transfer function is:
Block Diagrams
Block Diagram Algebra
• Often want to simplify block diagrams into simpler, recognizable forms
– To determine the equivalent transfer function
• Simplify to instances of the three standard forms, then simplify those
forms
• Move blocks around relative to summing junctions and pickoff points –
simplify to a standard form
– Move blocks forward/backward past summing junctions
– Move blocks forward/backward past pickoff points
Block Diagrams
Block Diagram Algebra
• The following two block diagrams are equivalent:
Block Diagrams
Block Diagram Algebra
• The following two block diagrams are equivalent:
Block Diagrams
Block Diagram Algebra
• We can move blocks backward past pickoff points:
• And, we can move them forward past pickoff points:
Block Diagrams
Block Diagram Simplification – Example 1
• We can move blocks backward past pickoff points:
» Move the feedback block forward,past the summing
junction
» Add an inverse block on to compensate for the move
• Closed‐ loop transfer function:
Block Diagrams
Block Diagram Simplification – Example 2
• Find the closed‐ loop transfer function of the following system through
block‐ diagram simplification
Block Diagrams
Block Diagram Simplification – Example 2
• G1(s) and H1(s) are in feedback form
Block Diagrams
Block Diagram Simplification – Example 2
Block Diagrams
Block Diagram Simplification – Example 2
Block Diagrams
Block Diagram Simplification – Example 2
Block Diagrams
Block Diagram Simplification – Example 2
Block Diagrams
Block Diagram Simplification – Example 2
Block Diagrams
Multiple Input Systems
• Systems often have more than one input
– E.g., reference, R(s) , and disturbance,W(s)
• Two transfer functions:
– From reference to output
– From disturbance to output
Block Diagrams
Multiple Input Systems:Transfer Function – Reference
• Find transfer function from R(s) to Y(s)
– set W(s)=0
Block Diagrams
Multiple Input Systems:Transfer Function – Reference
• Find transfer function from W(s) to Y(s)
– set R(s)=0
Block Diagrams
Multiple Input Systems:Transfer Function – Reference
• Two inputs, two transfer functions
• D(s) is the controller transfer function
– Ultimately, we’ll determine this
– We have control over both T(s) and Tw (s)
• What do we want these to be?
– Design T(s) for desired performance
– Design Tw(s) for disturbance rejection
Signal Flow Graphs
Signal Flow Graphs
• An alternative to block diagrams for graphically describing systems
• Signal flow graphs consist of:
– Nodes –represent signals
– Branches –represent system blocks
• Branches labeled with system transfer functions
• Nodes (sometimes) labeled with signal names
• Arrows indicate signal flow direction
• Implicit summation at nodes
– Always a positive sum
– Negative signs associated with branch transfer functions
Signal Flow Graphs
Block Diagram Signal Flow Graph
• To convert from a block diagram to a signal flow graph:
1. Identify and label all signals on the block diagram
2. Place a node for each signal
3. Connect nodes with branches in place of the blocks
– Maintain correct direction
– Label branches with corresponding transfer functions
– Negate transfer functions as necessary to provide negative feedback
4. If desired, simplify where possible
Signal Flow Graphs
Signal Flow Graph – Example 1
• Convert to a signal flow graph
• Label any unlabeled signals
• Place a node for each signal
Signal Flow Graphs
Signal Flow Graph – Example 1
• Connect nodes with branches, each representing a system block
• Note the ‐ 1 to provide negative feedback of X1(s)
Signal Flow Graphs
Signal Flow Graph – Example 1
• Nodes with a single input and single output can be eliminated, if desired
– This makes sense for X1(s) and X2(s)
– Leave U(s) to indicate separation between controller and plant
Signal Flow Graphs
Signal Flow Graph – Example 2
• Convert to a signal flow graph
• Label all signals, then place a node for each
Signal Flow Graphs
Signal Flow Graph – Example 2
Signal Flow Graphs
Signal Flow Graph – Example 2
Signal Flow Graphs
Signal Flow Graphs vs. Block Diagrams
• Signal flow graphs and block diagrams are alternative, though
equivalent, tools for graphical representation of interconnected
systems
• A generalization (not a rule)
– Signal flow graphs – more often used when dealing with state‐ space
system models
– Block diagrams – more often used when dealing with transfer function
system models
Mason’s Rule
Signal Flow Graphs
Mason’s Rule
• We’ve seen how to reduce a complicated block diagram to a
single input‐ to‐ output transfer function
– Many successive simplifications
• Mason’s rule provides a formula to calculate the same overall
transfer function
– Single application of the formula
– Can get complicated
• Before presenting the Mason’s rule formula, we need to define
some terminology
Signal Flow Graphs
Mason’s Rule-Loop Gain
• Loop gain – total gain (product of individual gains) around any path in the signal flow graph
– Beginning and ending at the same node
– Not passing through any node more than once
• Here, there are three loops with the following gains:
Signal Flow Graphs
Mason’s Rule-Forward Path Gain
• Forward path gain – gain along any path from the input to the output
– Not passing through any node more than once
• Here, there are two forward paths with the following gains:
Signal Flow Graphs
Mason’s Rule- Non-Touching Loops
• Non‐ touching loops – loops that do not have any nodes in
common
• Here,
1. -G1H3 does not touch G2H1
2. -G1H3 does not touch -G2G3H2
Signal Flow Graphs
Mason’s Rule- Non-Touching Loops Gains
Signal Flow Graphs
Mason’s Rule Formula
Signal Flow Graphs
Mason’s Rule -Example
Signal Flow Graphs
Mason’s Rule -Example
K=1
Signal Flow Graphs
Mason’s Rule -Example
K=2
Signal Flow Graphs
Mason’s Rule -Example
