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Reduction of Multiple Subsystems

The document discusses methods for analyzing systems composed of multiple subsystems. It describes: 1) Representing multiple subsystems as block diagrams or signal-flow graphs and reducing them to a single transfer function. This allows applying frequency-domain techniques to analyze the overall system response. 2) Techniques for reducing block diagrams, including representing common configurations like cascade, parallel and feedback forms using transfer function algebra. 3) Converting between block diagrams and signal-flow graphs, and using Mason's rule to find the transfer function from a signal-flow graph. 4) Examples of applying these methods to analyze transient response and design control systems consisting of interconnected subsystems.

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591 views40 pages

Reduction of Multiple Subsystems

The document discusses methods for analyzing systems composed of multiple subsystems. It describes: 1) Representing multiple subsystems as block diagrams or signal-flow graphs and reducing them to a single transfer function. This allows applying frequency-domain techniques to analyze the overall system response. 2) Techniques for reducing block diagrams, including representing common configurations like cascade, parallel and feedback forms using transfer function algebra. 3) Converting between block diagrams and signal-flow graphs, and using Mason's rule to find the transfer function from a signal-flow graph. 4) Examples of applying these methods to analyze transient response and design control systems consisting of interconnected subsystems.

Uploaded by

ramisa rizwan
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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CONTROL SYSTEM

LECTURER MOHAMMAD ASIF IBNA MUSTAFA


MILITARY INSTITUTE OF SCIENCE & TECHNOLOGY
DEPARTMENT OF ELECTRICAL, ELECTRONIC AND COMMUNICATION ENGINEERING
MIRPUR CANTONMENT, DHAKA-1216
REDUCTION OF MULTIPLE SUBSYSTEMS

 Reduce a block diagram of multiple subsystems to a single block representing the


transfer function from input to output
 Analyze and design transient response for a system consisting of multiple subsystems
 Convert block diagrams to signal-flow diagrams
 Find the transfer function of multiple subsystems using Mason’s rule
INTRODUCTION

We have been working with individual subsystems represented by a block with its input and
output. More complicated systems, however, are represented by the interconnection of many
subsystems. Since the response of a single transfer function can be calculated, we want to
represent multiple subsystems as a single transfer function. We can then apply the analytical
techniques of the previous chapters and obtain transient response information about the entire
system.
In this chapter, multiple subsystems are represented in two ways: as block diagrams and as
signal-flow graphs. Although neither representation is limited to a particular analysis and design
technique, block diagrams are usually used for frequency-domain analysis and design, and signal-
flow graphs for state-space analysis.
We will develop techniques to reduce each representation to a single transfer function. Block
diagram algebra will be used to reduce block diagrams and Mason’s rule to reduce signal-flow
graphs. Again, it must be emphasized that these methods are typically used as described. As we
shall see, however, either method can be used for frequency-domain or state-space analysis and
design.
BLOCK DIAGRAMS
CASCADE FORM
CASCADE FORM
Equation (5.1) was derived under the assumption that interconnected subsystems do not
load adjacent subsystems. That is, a subsystem’s output remains the same whether or not
the subsequent subsystem is connected. If there is a change in the output, the
subsequent subsystem loads the previous subsystem, and the equivalent transfer function
is not the product of the individual transfer functions.
CASCADE FORM
If the networks are placed in cascade, as in Figure 5.4(c), you can verify that the transfer
function found using loop or node equations is

But, using Eq. (5.1),


CASCADE FORM
PARALLEL FORM
FEEDBACK FORM
FEEDBACK FORM

But since C(s) = E(s)G(s),

Substituting Eq. (5.8) into Eq. (5.7) and solving for the transfer function, C(s)/R(s) =
Ge(s), we obtain the equivalent, or closed-loop, transfer function shown in Figure 5.6(c),
FEEDBACK FORM

The product, G(s)H(s), in Eq. (5.9) is called the


open-loop transfer function, or loop gain.

So far, we have explored three different configurations


for multiple subsystems. For each, we found the
equivalent transfer function. Since these three forms
are combined into complex arrangements in physical
systems, recognizing these topologies is a prerequisite
to obtaining the equivalent transfer function of a
complex system. In this section, we will reduce
complex systems composed of multiple subsystems to
single transfer functions.
MOVING BLOCKS TO CREATE FAMILIAR FORMS
MOVING BLOCKS TO CREATE FAMILIAR FORMS
MOVING BLOCKS TO CREATE FAMILIAR FORMS

PROBLEM 5.1: Reduce the block diagram shown in Figure 5.9 to a single transfer
function.
MOVING BLOCKS TO CREATE FAMILIAR FORMS
MOVING BLOCKS TO CREATE FAMILIAR FORMS

PROBLEM 5.2: Reduce the system shown in Figure 5.11 to a single transfer function.
MOVING BLOCKS TO CREATE FAMILIAR FORMS
MOVING BLOCKS TO CREATE FAMILIAR FORMS
MOVING BLOCKS TO CREATE FAMILIAR FORMS

PRACTICE PROBLEM: Find the equivalent transfer function, T(s) = C(s)/R(s), for the
system shown in Figure 5.13.
FINDING TRANSIENT RESPONSE

PROBLEM 5.3: For the system shown in Figure 5.15, find the peak time, percent
overshoot, and settling time.

SOLUTION: The closed-loop transfer function is


FINDING TRANSIENT RESPONSE
GAIN DESIGN FOR TRANSIENT RESPONSE

PROBLEM 5.4: Design the value of gain, K, for the feedback control system of Figure
5.16 so that the system will respond with a 10% overshoot.

SOLUTION: The closed-loop transfer


function is
GAIN DESIGN FOR TRANSIENT RESPONSE

Since percent overshoot is a function only of z, Eq. (5.23) shows that the percent
overshoot is a function of K.
A 10% overshoot implies that ζ = 0:591.
Substituting this value for the damping ratio
into Eq. (5.23) and solving for K yields
SIGNAL-FLOW GRAPHS

Signal-flow graphs are an alternative to block diagrams. A system is represented by a


line with an arrow showing the direction of signal flow through the system. Adjacent to
the line we write the transfer function. A signal is a node with the signal’s name written
adjacent to the node.
CONVERTING COMMON BLOCK DIAGRAMS TO SIGNAL-FLOW GRAPHS

PROBLEM 5.5: Convert the cascaded, parallel, and feedback forms of the block
diagrams shown in Figures 5.3(a), 5.5(a), and 5.6(b), respectively, into signal-flow graphs.
CONVERTING COMMON BLOCK DIAGRAMS TO SIGNAL-FLOW GRAPHS

PROBLEM 5.5: Convert the cascaded, parallel, and feedback forms of the block
diagrams shown in Figures 5.3(a), 5.5(a), and 5.6(b), respectively, into signal-flow graphs.
CONVERTING COMMON BLOCK DIAGRAMS TO SIGNAL-FLOW GRAPHS
CONVERTING COMMON BLOCK DIAGRAMS TO SIGNAL-FLOW GRAPHS
CONVERTING A BLOCK DIAGRAM TO A SIGNAL-FLOW GRAPH

PROBLEM 5.6: Convert the block diagram of Figure 5.11 to a signal-flow graph.

SOLUTION:
CONVERTING A BLOCK DIAGRAM TO A SIGNAL-FLOW GRAPH
CONVERTING A BLOCK DIAGRAM TO A SIGNAL-FLOW GRAPH
MASON’S RULE

Definitions:
Loop gain.

Forward-path gain.
MASON’S RULE

Nontouching-loop gain.

The transfer function, C(s)/R(s), of a system represented by a signal-flow graph is


MASON’S RULE
TRANSFER FUNCTION VIA MASON’S RULE

PROBLEM 5.7: Find the transfer function, C(s)/R(s), for the signal-flow graph in Figure
5.21.
TRANSFER FUNCTION VIA MASON’S RULE

SOLUTION: Forward Path:

Loop gains:
TRANSFER FUNCTION VIA MASON’S RULE

Now identify the nontouching loops taken two at


a time:

Finally, the nontouching loops taken three at a time are as follows:


TRANSFER FUNCTION VIA MASON’S RULE

Now

Expressions (5.29), (5.33), and (5.34) are now substituted into Eq. (5.28), yielding the
transfer function:
THANK YOU. ANY QUESTIONS?

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