Control Systems

Reduction of Multiple Subsystems

Chapter 5

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LEARNING OUTCOMES
• 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 diagram to signal flow diagram
• Find the transfer function of multiple subsystems
using Mason’s rule

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5.1 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.
• In this chapter, multiple subsystems are represented in two
ways: as block diagrams and as signal-flow graphs.
• Signal-flow graphs represent transfer functions as lines, and
signals as small circular nodes. Summing is implicit.

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5.2 Block Diagrams

As you already know, a subsystem is represented as a block with
an input, an output, and a transfer function. Many systems are
composed of multiple subsystems, as in Figure below.

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5.2 Block Diagrams

When multiple subsystems are interconnected, a few more
schematic elements must be added to the block diagram. These
new elements are summing junctions and pickoff points. All
component parts of a block diagram for a linear, time-invariant
system are shown in Figure below.

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Cascade Form

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Parallel Form

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B

Feedback Form
The typical feedback system, is shown in Figure (a); a simplified
model is shown in Figure (b).

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Feedback Form

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Moving Blocks to Create Familiar

Forms
This subsection will discuss basic block moves that can be made
in order to establish familiar forms when they almost exist. In
particular, it will explain how to move blocks left and right past
summing junctions and pickoff points.

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Moving Blocks to Create Familiar

Forms

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Example 5.1P.242
PROBLEM: Reduce the block diagram shown to a single T.F.

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Example 5.1P.242
SOLUTION:

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Example 5.2 P.243

PROBLEM: Reduce the system shown to a single T.F.

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Example 5.2 P.243

SOLUTION:

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Example 5.2 P.243

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5.3 Analysis and Design of Feedback

Systems
Consider the system shown, which can model a control system
such as the antenna azimuth position control system.

where K models the amplifier gain, that is, the ratio of the
output voltage to the input voltage.
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5.3 Analysis and Design of Feedback

Systems
As K varies, the poles move through the three ranges of
operation of a second-order system:
• overdamped,
• critically damped, and
• underdamped.
For example, for K between 0 and 𝑎2 /4, the poles of the system
are real and are located at

As K increases, the poles move along the real axis, and the system
remains overdamped until K = 𝑎2 /4.
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5.3 Analysis and Design of Feedback

Systems
• At K = 𝑎2 /4 , both poles are real and equal, and the system is
critically damped

• For gains above 𝑎2 /4 , the system is underdamped, with

complex poles located at

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Example 5.3 P. 246

PROBLEM: For the system shown, find the peak time, percent
overshoot, and settling time.

Solution: The closed-loop transfer function found

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Example 5.3 P. 246

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Example 5.4 P 246

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

SOLUTION: The closed-loop transfer function of the system is

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Example 5.4 P 246

A 10% overshoot implies that ξ = 0.591. Substituting this value for the
damping ratio into above Eq. and solving for K yields;
K=17.9

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5.4 Signal-Flow Graphs

• Signal-flow graphs are an alternative to block diagrams.
• Unlike block diagrams, which consist of blocks, signals,
summing junctions, and pickoff points, a signal-flow graph
consists only of
branches, which represent systems, and
nodes, which represent signals.

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Example 5.5 P. 249

PROBLEM: Convert the cascaded, parallel, and feedback forms of the
block diagrams shown in Figures below, respectively, into signal-flow
graphs.

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Basil Hamed
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Example 5.5 P. 249

SOLUTION: In each case, we start by drawing the signal nodes for that
system. Next we interconnect the signal nodes with system branches.

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Example 5.5 P. 249

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Example 5.5 P. 249

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Example 5.6 P 250

PROBLEM: Convert the block diagram shown to a signal-flow
graph.

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Example 5.6 P 250

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5.5 Mason's Rule

• In this section will discuss a technique for reducing signal-flow
graphs to single transfer functions that relate the output of a
system to its input.
• The block diagram reduction technique we studied in Section
5.2 requires successive application of fundamental relationships
in order to arrive at the system transfer function.
• On the other hand, Mason's rule for reducing a signal-flow
graph to a single transfer function requires the application of
one formula.

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5.5 Mason's Rule

Mason's formula has several components that must be evaluated. First,
we must be sure that the definitions of the components are well
understood.
Definitions
Input Node(Source): is anode that has only outgoing branches
Output Node (Sink): is anode that has only incoming branches.
Path: is continuous connection of branches from one node to
another with arrowhead in the same direction.
Forward Path: is a path connects a source node to a sink node.
Loop: is closed path(originate and terminates on the same node).
Path gain: is the product of T.F of all branches that form path.
Loop Gain: is the product of T.F of all branches that form loop.
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5.5 Mason's Rule

The transfer function, C(s)/R(s), of a system represented by a
signal-flow graph is
𝑃
𝐶(𝑠) 1
𝐺 𝑠 = = ෍ 𝑀𝑘 ∆𝑘
𝑅(𝑠) ∆
𝑘=1

P= number of forward paths

Mk = the kth forward-path gain

∆ = 1 - σ 𝑙𝑜𝑜𝑝 gains + σ 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔-loop gains taken two at a time -

σ 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔-loop gains taken three at a time + ...

∆𝑘 = ∆ − σ 𝑙𝑜𝑜𝑝 gain terms in ∆ that touch the kth forward path. In

other words, ∆𝑘 is formed by eliminating from ∆ those loop gains that
touch the kth forward path.
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Example 5.7 P 252

PROBLEM: Find the transfer function, C(s)/R(s) for the signal-
flow graph shown below

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Example 5.7 P 252

Solution: P=1; 𝑀1 =𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 , Loops=4

Nontouching loops taken two at time Nontouching loops taken three at time

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Example 5.7 P 252

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Example
Find T.F C(s)/R(s)

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Example
Find T.F y7 /y1

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