Meen201101056 Lab 5

Lab Session 05

Objective:

Section-I Theory
To retrieve and evaluate a single transfer function for a given complex control system through
block reduction techniques using MATLAB.

Theory:
 Define the complex control system using MATLAB's Control Systems Toolbox. This
involves creating transfer function models for each component of the system, including
plant models, controller models, and any additional components such as sensors or filters.
You can use functions like tf or ss to define transfer functions or state-space models.
 Interconnect the individual components of the control system using MATLAB's control
system operations, such as series (series), parallel (parallel), or feedback (feedback)
connections. This will create the overall transfer function representation of the complex
control system.
 Use block reduction techniques to simplify the complex control system. Block reduction
aims to identify and eliminate nonessential or insignificant blocks in the control system,
while preserving the important dynamics. MATLAB provides functions like minreal and
balred for model reduction and balancing.
 Apply the block reduction function to the overall transfer function of the control system.
For example, you can use the minreal function to obtain a minimal realization of the
transfer function or the balred function to achieve balanced truncation reduction.
 Evaluate the resulting reduced transfer function using MATLAB's control system analysis
and design tools. You can analyze the stability, frequency response, step response, or any
other performance metrics of the reduced transfer function using functions like bode, step,
margin, etc.
Lab 05 Control Systems

Here's an example code snippet that demonstrates the process:

Figure 1: Control system example

This example shows how to define a simple control system with a plant and a controller. The
series function is used to connect the plant and controller in series. The minreal function is then
applied to obtain the reduced transfer function, and the resulting transfer function is evaluated
using the bode and step functions for frequency and step response analysis.
Block diagram:
A block diagram is used to represent a control system in diagram form. In other words, the practical
representation of a control system is its block diagram. Each element of the control system is
represented with a block and the block is the symbolic representation of the transfer function of
that element.
A block then represents each element’s transfer function, and they are then connected with the
path of signal flow.
Block diagrams are used to simplify complex control systems. Each element of the control system
is represented with a block, and the block is the symbolic representation of that element’s transfer
function. A complete control system can be represented with a required number of interconnected
blocks.
The figure below shows two elements with transfer function Gone(s) and Gtwo(s). Where Gone(s) is
the transfer function of the first element and Gtwo(s) is the transfer function of the second element
of the system.

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Figure 2: Block diagram

In each block of the diagram, the output and input are related together by a transfer function. Where
the transfer function is:

Where C(s) is the output and R(s) is the input of that particular block.

Figure 3: Block diagram

Basic Elements of Block Diagram:

The basic elements of a block diagram are a block, the summing point and the take-off point. Let
us consider the block diagram of a closed loop control system as shown in the following figure to
identify these elements.
Block
The transfer function of a component is represented by a block. Block has single input and single
output.
The following figure shows a block having input X(s), output Y(s) and the transfer function G(s).

Figure 4 : Block

Summing Point:
The summing point is represented with a circle having cross (X) inside it. It has two or more
inputs and single output. It produces the algebraic sum of the inputs. It also performs the
summation or subtraction or combination of summation and subtraction of the inputs based on
the polarity of the inputs. Let us see these three operations one by one.

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The following figure shows the summing point with two inputs (A, B) and one output (Y). Here,
the inputs A and B have a positive sign. So, the summing point produces the output, Y as sum of
A and B.
i.e. = A + B.

Figure 5 : Summing junction

The following figure shows the summing point with two inputs (A, B) and one output (Y). Here,
the inputs A and B are having opposite signs, i.e., A is having positive sign and B is having
negative sign. So, the summing point produces the output Y as the difference of A and B.
Y = A + (-B) = A - B.

Figure 6: Summing junction

The following figure shows the summing point with three inputs (A, B, C) and one output (Y).
Here, the inputs A and B are having positive signs and C is having a negative sign. So, the summing
point produces the output Y as
Y = A + B + (−C) = A + B − C.

Figure 7: Summing junction

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Take-off Point:
The take-off point is a point from which the same input signal can be passed through more than
one branch. That means with the help of take-off point, we can apply the same input to one or more
blocks, summing points.
In the following figure, the take-off point is used to connect the same input, R(s) to two more
blocks.

Rules for Block Diagram Reduction:

We will discuss the various rules that can be applied for simplifying a complex block diagram.
 For serially connected blocks:
When blocks are connected in series then the overall transfer function of all the blocks is the
multiplication of the transfer function of each separate block in the connection.
Suppose we have two blocks in cascade connection as shown below:

Figure 8: Series connection

Consider U(s) denotes the intermediate variable then we can say

and

Hence

Thus we can replace two blocks with different transfer functions into a single one having the
transfer function equal to multiplication of each transfer function without altering the output.
 For parallel connected blocks:
In case the blocks are connected parallely then the transfer function of the whole system will be
the addition of the transfer function of each block (considering sign).
Suppose two blocks are connected parallely as given below:

So,

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If we need to shift the take-off point ahead of the block, then we must keep ‘p’ as it is.
Here p = X(s)
So, even after shifting p must be X(s) and for this, we have to add a block with gain.
which is reciprocal of the gain of the originally present block.
As the actual gain is G(s) so the additional block will have a gain of 1/G(s).
 Shifting of take-off point behind the block:
Suppose there is a take-off point ahead of block as given below:

Figure 9: Take off point

In order to move the take-off point behind the block, we need to keep the value of ‘p’ same. Here p
= X(s)G(s).
But with backward movement p will become X(s). So, we have to add another block with the same
gain as the original gain. This will make the value of p = X(s)G(s)

Figure 10: Take off point

 Shifting of Summing point ahead of the block:

Suppose we have a configuration of summing point and block as given below:
If the summing point is to be moved from backward to forward of the block, then Y(s) will become
X(s)G(s)+p. However, earlier Y(s) was [X(s)+p]G(s).
So, to have unaltered output, we need to add a block having exact gain as the original one.
 Shifting of summing point behind the block:
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Suppose we have a combination where we have a summing point present after the block as shown
below:
We need to move this summing point behind the position of the block without changing the
response. So, for this, a block with gain which is reciprocal of the actual gain is to be inserted in
the configuration in series.
 Interchange of the summing point:
Consider a combination of two summing points directly connected with each other as shown
below:
We can use associative property and can interchange these directly connected summing points
without altering the output.
 Splitting/ combining the summing point:
A summing point having 3 inputs can be split into a configuration having 2 summing points with
separated inputs without disturbing the output. Or three summing points can be combined to form
a single summing point with the consideration of each given input.

Section-II Tasks

Task 01:
MATLAB code in an “m” file to show all above operations:

Series:
num1 = [1 2]
den1 = [1 5 6]
sys1 = tf(num1,den1)
num2 = [1 4]
den2 = [5 3 4]
sys2 = tf(num2,den2)
sys = series(sys1,sys2)
Parallel:
num1 = [1 2]
den1 = [1 5 6]
sys1 = tf(num1,den1)
num2 = [1 4]
den2 = [5 3 4]
sys2 = tf(num2,den2)
sys = parallel(sys1,sys2)
Feedback loop:
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Lab 05 Control Systems

num1 = [1 2]
den1 = [1 5 6]
sys1 = tf(num1,den1)
num2 = [1 4]
den2 = [5 3 4]
sys2 = tf(num2,den2)
sys = feedback(sys1,sys2,+1)

Task 02:
MATLAB code in an “m” file to show minreal() operations

numerator = [1 -1];
denominator = [1 0 0 -1];
G = tf(numerator, denominator);
reduced_G = minreal(G);
disp('Original Transfer Function G(s):');
G
disp('Reduced Transfer Function G(s):');
reduced_G
figure;
step(G);
hold on;
step(reduced_G);
legend('Original G(s)', 'Reduced G(s)');
title('Step Response');
figure;
bode(G);
hold on;
bode(reduced_G);
legend('Original G(s)', 'Reduced G(s)');
title('Bode Diagram');

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