Control Systems (ES-353)

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 Lec#10-11
Block Diagrams Representation of a Control
System
CLO-1

3
 Reference Books

• Modern Control Systems, (latest Edition) By Richard C. Dorf

and Robert H. Bishop.

• imtiazhussainkalwar.weebly.com

• Modern Control Engineering, (latest Edition) By Katsuhiko

Ogata
 Outline

• Introduction
• Block Diagrams
• Canonical Form of A Feedback Control System
• Examples
 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, gain,
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
 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 (or
pickoff) 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 , , , are
variables, and , are general coefficients or mathematical
operators.
x 3  a 1 x1  a 2 x 2  5
 Example-1

x 3  a 1 x1  a 2 x 2  5
 Example-2
• Draw the Block Diagrams of the following equations.

dx 1 1
(1 ) x 2  a1   x1 dt
dt b
d 2 x2 dx 1
(2) x 3  a1 3  bx 1
dt 2 dt
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-3
1. Open loop transfer function

2. Feed Forward Transfer function

3. control ratio G (s)

4. feedback ratio

5. error ratio

H (s)
6. closed loop transfer function

7. characteristic equation

8. Open loop poles and zeros if 9. closed loop poles and zeros if K=1.
 Example-3-solution
1. Open loop transfer function B( s )
 G( s ) H ( s )
E( s )
2. Feed Forward Transfer function C ( s)
 G ( s)
E ( s)
3. control ratio C(s) G(s)

R( s ) 1  G ( s )H ( s )

4. feedback ratio B( s ) G ( s )H ( s )

R( s ) 1  G ( s )H ( s )
5. error ratio E(s) 1

R( s ) 1  G ( s )H ( s )

6. closed loop transfer function C(s) G(s)


R( s ) 1  G ( s )H ( s )

7. characteristic equation 1  G ( s )H ( s )  0

8. Open loop poles and zeros if 9. closed loop poles and zeros if K=1.
 Three Basic Forms

cascade parallel feedback

G1 G1
G1 G2
G2 G2

G1
G1 G2 G1 G2
1+ G1 G2
Reduction techniques

Moving a summing point behind a block

G G
G

Moving a summing point ahead a block

G G
1
G
 Moving a pickoff point behind a block

G G
1
G

Moving a pickoff point ahead of a block

G G
G
Swap with two neighboring summing points

A B B A
Example-4: Reduce the Block Diagram to Canonical Form.
Example-4: Continue.
 Example-5
• 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-5
– First we will reduce the given block diagram to canonical form

K
s 1
 Example-5

K
s 1

K
G
 s 1
1  GH K
1 s
s 1
 Example-5 (see example-3)
B( s )
1. Open loop transfer function  G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function  G( s )
E( s )
C(s) G(s) G(s )
3. control ratio 
R( s ) 1  G ( s )H ( s )

4. feedback ratio B( s ) G ( s )H ( s )

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

8. closed loop poles and zeros if K=10.

 Example-6 Homework
• 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.
 Example-7
• Reduce the following block diagram to canonical form.

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example-7
H2
G1
R _
G1G2 C
+_ + G3
1  G1G2 H1
 Example-7
H2
G1
R _
G1G2G3 C
+_ +
1  G1G2 H1
 Example-7

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
 Example 8- HW
Find the transfer function of the following block diagram

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

H2

H1
 Example 9
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

G 2 G 3G 4 H 2  G4 H 1
1  G 3G 4 H 4  G 2 G 3 H 3 G4
3. Eliminate loop II & IIII

R(s ) G1G 2 G 3 G 4 Y (s )
1  G 3G 4 H 4  G 2 G 3 H 3

H 2  G4 H 1
G4

Y ( s) G1G2G3G4

R(s) 1  G2G3H3  G3G4 H4  G1G2G3H2  G1G2G3G4 H1
Example-10: Reduce the Block Diagram.
Example-10: Continue.
Example-11: Simplify the block diagram then obtain the close-
loop transfer function C(S)/R(S). (from Ogata: Page-47)
Example-11: Continue.
Superposition of Multiple Inputs
Example-12: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
Example-12: Continue.
Example-12: Continue.
Example-13: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-13: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-13: Continue.
Example-13: Continue.
Example-14: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-14: Continue.
 Example-14: Continue.

When R1 = 0,

When R2 = 0,
Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J


L a s  R a I a (s)  K b  (s)  V a (s)

Js  c  (s)  K m I a (s)

Block Diagram of Armature Controlled D.C Motor

L a s  R a I a (s)  K b  (s)  V a (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