System

Representation
NDJ30103 CONTROL SYSTEM
 BLOCK DIAGRAM
• A block diagram of a system is a practical representation of the functions
performed by each component and the flow of signals.
• Components of a block diagram:
 CASCADED (SERIES) FORM

• Intermediate signal values are shown at the output of each subsystem.

• Each signal is derived from the product of the input X the transfer
function.

(a) Cascaded subsystem

(b) Equivalent transfer function

PARALLEL FORM

(a) Parallel subsystem

(b) Equivalent transfer function

FEEDBACK FORM

E ( s) = R( s)  C ( s) H ( s)
C ( s) = E ( s )G ( s)
C ( s)
= E ( s) = R( s)  C ( s) H ( s)
G ( s)
C ( s) = G ( s ) R( s )  G ( s )C ( s ) H ( s)
C ( s)  G ( s )C ( s ) H ( s ) = G ( s ) R( s)
C ( s)[1 + G ( s ) H ( s )] = G ( s ) R( s )

C ( s) G( s)
=
R( s ) 1 + G ( s ) H ( s )
 BLOCK DIAGRAM REDUCTION RULES

Cascaded Blocks

R(s) G1(s) G2(s) C(s) R(s) G1(s) G2(s) C(s)

𝐶 𝑠 = 𝑅 𝑠 𝐺1 𝑠 𝐺2 𝑠
 BLOCK DIAGRAM REDUCTION RULES

Moving a summer behind a block

+ +
R(s) G(s) C(s) R(s) G(s) C(s)
+ +
- -
X(s) G(s) X(s)
BLOCK DIAGRAM REDUCTION RULES

Moving a summer ahead of a block

+
+ R(s) G(s) C(s)
R(s) G(s) C(s)
+
+ -
-
X(s)
X(s)
BLOCK DIAGRAM REDUCTION RULES

Moving a pickoff ahead of a block

R(s) G(s) C(s)

R(s) G(s) C(s)

X(s) X(s) G(s)

BLOCK DIAGRAM REDUCTION RULES

Moving a pickoff behind of a block

R(s) G(s) C(s)

R(s) G(s) C(s)

R(s) R(s)
BLOCK DIAGRAM REDUCTION RULES

Eliminating a feedback loop

+
R(s) G(s) C(s)
- R(s) C(s)
+

H(s)
 Rearrange
summing
Rules: junction for
loops.
BLOCK
DIAGRAM
REDUCTION Simplified
loops and
Get transfer
combine any
function.
cascade
block.
 Example 1

Reduce the block diagram into a single transfer function

Example 1
Example 2:

C ( s) s3 + 1
= 4 2
R( s) 2s + s + 2s
 Example 3:

• Find transfer function Y(s)/U(s)

U(s) G1G2G3G4 Y(s)

• Solution: 1 − G3G4 H1 + G2G3 H 2 + G1G2G3G4 H 3
 Example 4:

Determine the transfer function Y(s)/R(s) of the following block

diagram. Use both block diagram reduction technique.

+ + Y (s)
R(s) P Q

- -
H
 SIGNAL FLOW GRAPH MODELS

• A signal flow graph : is a graphical representation of the relationships

between the variables of a set of linear algebraic equations.
• Branch : The basic element of a signal-flow graph is a unidirectional
path segment.
• Nodes : The input and output points or junctions.
• A path : a branch or continuous sequence of branches that can be
traversed from one signal (node) to another signal (node).
• A loop : a closed path that originates and terminates on the same
node, and along the path no node is met twice.
• Two loops are said to be nontouching if they do not have a same
common node.
 System
(branch)

SIGNAL
FLOW Signal

GRAPH (node)

MODELS

Interconnection of systems and signals

SIGNAL FLOW GRAPH MODELS

R(s) C(s) G(s)

G(s)
R(s) C(s)
 SIGNAL FLOW GRAPH MODELS

R(s) E(s) C(s) 1 G(s)

+- G(s) C(s)
R(s)

H(s) - H(s)

M(s) M(s)

R(s) E(s) C(s) 1

+- G1(s) ++ G2(s) 1 G1(s) G2(s)
C(s)
R(s) E(s)
H(s)

- H(s)
Example 1: Convert Block Diagram To Signal
Flow Graph
SOLUTION
Example 2: Convert Block Diagram to Signal
Flow Graph
 MASON’S GAIN FORMULA FOR SIGNAL FLOW
GRAPHS

P  k k
T= k

Where, 
k = Number of forward path
Pk = The kth forward-path gain

 = 1 −  loop gains +  nontouching-loop gains taken two at a time

− nontouching-loop gains taken three at a time + nontouching-loop gains taken four at a time
+….

k = Cofactor of the kth forward path determinant of the graph.

 MASON’S RULE METHOD

Obtain transfer function:

• Identify the forward-path gains.
• Identify the loop gains.
• Identify the nontouching loops taken 2 at a time.
• The nontouching loops taken 3 at a time.
1. Form Δ
2. Form Δk by eliminating from Δ the loop gains that touch the
kth forward path.
3. Use Mason’s gain formula to find transfer function.
EXAMPLE : TRANSFER FUNCTION OF
INTERACTING SYSTEM

The paths connecting the input R(s) and output Y(s) are

Path 1: P1 = G1G2G3G4
Path 2: P2 = G5G6G7 G8
There are four individual loops:

L1 = G2 H 2
L2 = G3 H 3
L3 = G6 H 6
L4 = G7 H 7
Loops 𝐿1 and 𝐿2 do no touch 𝐿3 and 𝐿4 .
Therefore the determinant is:
 = 1 − ( L1 + L2 + L3 + L4 ) + ( L1L3 + L1L4 + L2 L3 + L2 L4 )
The cofactor of the determinant along path 1 is
evaluated by removing the loops that touch path 1
from ∆. Therefore we have:

L1 = L2 = 0 and 1 = 1 − ( L3 + L4 )

Similarly , the cofactor for path 2 is  2 = 1 − ( L1 + L2 )

Y (s) P11 + P2  2
= T ( s) =
R( s) 

G1G2G3G4 (1 − L3 − L4 ) + G5G6G7G8 (1 − L1 − L2 )
=
1 − L1 − L2 − L3 − L4 + L1 L3 + L1 L4 + L2 L3 + L2 L4
Example : Transfer function of interacting
system

G1(s) G2(s) G3(s) G4(s) G5(s)

R(s) C(s)
V4(s) V3(s) V2(s) V1(s)

H1(s) H2(s)

G8(s) G6(s)
G7(s)

V6(s) V5(s)

H4(s)
 SOLUTION
G1(s)
G2(s) G3(s) G4(s) G5(s)
R(s) C(s)

V4(s) L1 V3(s) V2(s) L2 V1(s)

H1(s) L4 H2(s)

G8(s) G6(s)

G7(s)

V6(s) L3 V5(s)

H4(s)
1. The forward-path gains:
T1=G1(s)G2(s)G3(s)G4(s)G5(s)
2. The loop gains:
i. L1=G2(s)H1(s)
ii. L2=G4(s)H2(s)
iii. L3=G7(s)H4(s)
iv. L4=G2(s)G3(s)G4(s)G5(s)G6(s) G7(s) G8(s)

3. The non-touching taken two at a time:

i. L1 & L2: G2(s)H1(s)G4(s)H2(s)
ii. L1 & L3: G2(s)H1(s)G7(s)H4(s)
iii. L2 & L3: G4(s)H2(s) G7(s)H4(s)
 = 1 - loop gains + non-touching loop gains 2 at a time - non-touching loop gains 3 at a time +
non-touching loop gains 4 at a time - …

4. The non-touching taken three at a time:

i. L1, L2 & L3: G2(s)H1(s) G4(s)H2(s) G7(s)H4(s)
5. Compute :
=1-[G2(s)H1(s)+ G4(s)H2(s)+ G7(s)H4(s)+
G2(s)G3(s)G4(s)G5(s)G6(s) G7(s) G8(s) ]+[G2(s)H1(s) G4(s)H2(s)+
G2(s)H1(s) G7(s)H4(s)+ G4(s)H2(s) G7(s)H4(s)]- [G2(s)H1(s)
G4(s)H2(s) G7(s)H4(s)]
6. Compute k:
1=1- G7(s)H4(s) (the loop that does not touch the fwd path)
7. Compute G(s):
T11 G1 (s )G2 (s )G3 (s )G4 (s )G5 (s )1 − G7 (s )H 4 (s )
G ( s) = =
 