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14 views7 pages

Lab 3

Uploaded by

manzoorzardari
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MEHRAN UNIVERSITY OF ENGINEERING AND TECHNOLOGY JAMSHORO

Batch 10 ES ( 3rd year 1st Term)

PRACTICAL HANDOUTS

FEEDBACK CONTROL SYSTEMS

Lab-03

Block Diagram Analysis

Name : -------------------------------------------------------------

Roll No:------------------------------------------------------------

Date :---------------------------------------------------------------

Score:---------------------------------------------------------------

Signature:-----------------------

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Lab Outline:
 Concept of block diagrams
 Real time examples
 Parallel and Series Arrangement
 Feedback model
 Feedback with any feedback component
 Exercise

Introduction:
As in design of any control system, after mathematical modeling the next step is to convert it into block
diagram representation in which each component of the plant has a distinct position and gives a clear
picture of the system in process or a system which has to be designed.

Reduction of Block diagram:


Usually control systems may contain many components which are represented in form of block which
include their respective transfer function. It’s very cumbersome to solve the detailed model when
analysis is carried out. So block diagrams are reduced to a single block via different reduction
techniques to obtain a final model on which simulations and analysis are carried out to achieve required
specifications. The process of reducing blocks to single block is called reduction of block diagram.
Usually block may be in series or in parallel
1. Series : if blocks are in series they are multiplied
2. Parallel. If blocks are in parallel they are added together.

G1 (s) G2 (s) G1(s)*G2(s)

G1 (s)
G1(s)+G2(s)

G2 (s)

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Addition of the Transfer Function:
Blocks can be added using parallel function. It’s recommended when blocks are more than two, then
first two blocks should be solved and resultant must be added with the 3rd block and so on.
 parallel connects two LTI models in parallel. This function accepts any type of LTI model. The
two systems must be either both continuous or both discrete with identical sample time.
 sys = parallel(sys1,sys2) forms the basic parallel connection shown in the following figure:

o This command equals the direct addition


sys = sys1 + sys2

Multiplication of transfer Functions:


Blocks can be multiplied using series function or convolution function. It’s recommended when block
are more than two, first 2 blocks should be solved and the resultant must be multiplied with the 3rd block

Covolution and Series Command:


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The above given open loop block can be multiplied by two command. Convolution can be applied only
when there are two block while series can be applicable to multiple number.
One main advantage of conv command is, it can be applied to two signals also while series is only
restricted to block diagrams. Use following code to obtain the final transfer function.

 SERIES: series connects two LTI models in series. This function accepts any type of LTI
model. The two systems must be either both continuous or both discrete with identical sample
time.

 sys = series(sys1,sys2) forms the basic series connection shown below.

This command is equivalent to the direct multiplication


sys = sys2 * sys1
 sys = series(sys1,sys2,outputs1,inputs2) forms the more general series connection.

The index vectors outputs1 and inputs2 indicate which outputs of sys1 and which inputs of sys2 should
be connected. The resulting model sys has as input and as output.

 Convolution:
num1= [1 2];
num2 = [2 3];
den1 = [1 3 4];
den2 = [2 3 4];
num12 = conv(num1,num2);
den12 = conv(den1,den2);
Printsys (num12,den12)

 Series:
num1= [1 2];
num2 = [2 3];
den1 = [1 3 4];
den2 = [2 3 4];
[num12, den12] = series(num1,den1,num2,den2);
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Printsys (num12 , den12)

Closed loop transfer Function:

In the above figure closed loop feedback system is shown where G(s) is a feedforward block (could be
any subsystem or any plant) and H(s) is a feedback block (any sensor etc). If we are using negative
feedback we will use “+” sign or viceversa.
For feedback we consider different cases :
(i) H(s) is one (unity feedback)………………… use Cloop command
(ii) H(s) is not unity feedback…………………….used feedback command

Unity feedback Closed loop transfer

 sys = cloop(num,den)(or cloopfunction=cloop(sys)) returns an LTI model sys for the negative
unity feedback interconnection
 To apply positive feedback, use the syntax
sys = cloop(num,den,+1)or
cloopfuncion=cloop(sys,+1)

EXAMPLE:
num=[1 2];
den=[2 3 4];
[num,den] = cloop(num,den);
Printsys (num,den)

Non-unity feedback Closed Loop Transfer function:


 sys = feedback(sys1,sys2) returns an LTI model sys for the negative feedback interconnection

The closed-loop model sys has u as input vector and as output vector y. The LTI models sys1 and
sys2 must be both continuous or both discrete with identical sample times.
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 To apply positive feedback, use the syntax
sys = feedback(sys1,sys2,+1)

By default, feedback (sys1, sys2) assumes negative feedback and is equivalent to feedback (sys1,sys2,-1).

EXAMPLE:
num1=[1 2];
den1=[2 3 4];
num2=[2 3];
den2=[1 3 4];
[num,den] = feedback (num1,den1,num2,den2)
Printsys (num,den)

Lab Activity: (To be Submitted)


1. Reduce each of the following block diagrams into a single block form. In which block diagrams
you cannot use the function “series”? Why? Also determine whether the system is stable or not.

2. Find the closed loop transfer function of the following block diagram.

3. Find the closed loop transfer function of the following block diagram

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4. Find the closed loop transfer function of the following block diagram

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