BLOCK DIAGRAM REPRESENTATION

1.1 Introduction
A block diagram is a pictorial representation of the system representing the
relationship between input and output of the system.
Each element of a practical system is represented as a block. The transfer function
of that element is inserted inside the block. The different blocks are interconnected
to each other as per the sequence of operation of the system.
Lines drawn between the blocks indicate the connection of the blocks. An arrow
indicates the direction of the flow of signals from one block to another.
Some important definitions
Block diagram: a pictorial representation of the cause and effect relationship
between input and
output of the system

Figure 1: Block diagram

Output: The value of the input is multiplied with the value of block gain to get the
output
Output = Gain × Input

R (s)input C (s) Output

Summing point: more than one signal can be added or subtracted at the summing
point
Take off point: The point at which the output is taken for feedback purpose.

Forward path: The direction of flow of signal is from input to output

Feedback path: The direction of flow of signal is from output to input
Advantages of Block Diagram
1. The functional operation of the system can be observed from the block diagram
2. The diagram gives the information about performance of the system
3. Block diagram is used for analysis and design of control systems
4. It is very simple to construct block diagram for big and complicated systems
Disadvantages of Block Diagrams
1. Block diagram for given system are non unique
2. Source of energy in the system is not shown in the diagram
3. In the procedure of reduction of block diagram algebra some important functions
may be omitted or hidden. There is no check for it.
4. The block diagram does not give any information about the physical
construction of the system.
1.2 Canonical form of Feedback Control System
The canonical form consists of
1. One forward path
2. One feedback path
3. One summing point
4. One take-off point

Figure 2: Canonical form of block diagram

The following terms are used with reference to Figure 2 above

1. R (s) = Laplace transform of input, r (t)

2. C (s) = Laplace transform of controlled output, c (t)

3. E (s) = Laplace transform of error signal, e (t)

4. B (s) =Laplace transform of feedback signal, b (t)

5. G (s) = Forward transfer function

6. H (s) = Feedback transfer function

7. C(s)/R(s) = Control ratio = Closed loop transfer function

8. E(s)/R(s) =Error ratio = Actuating signal ratio

9. B(s)/R(s) = Primary feedback ratio

Derivation of Transfer Function of Canonical Closed Loop System

Referring to Figure 3 below

Figure 3: Closed loop system

E (s) = R (s) ± B (s)…………………….. (1)

B (s) = C (s) H (s)………………………. (2)

C (s) = E (s) H (s)………………………. (3)

Substituting (2) into (1)

E (s) = R (s) ± C (s) H (s)
E (s) = C (s)/G (s) = R (s) ± C (s) H (s)
C (s) = R (s) G (s) ± C (s) G (s) H (s)
C (s)/R (s) =G (s)/(1 ± G (s) H (s))

Figure 4: Closed loop system transfer function

Positive sign means negative feedback
Negative sign means positive feedback
This can be used as a standard result to eliminate such simple loop in a
complicated system reduction procedure.
1.3 Rules for Block Diagram Reduction
Any complicated system can be converted into canonical form by using block
diagram reduction rules.
The following rules are widely used in block diagram reduction:
Rule 1: Blocks in Series
Any finite number of blocks in series may be algebraically combined by
multiplication.

Figure 5: Blocks in Series

The blocks of Figure 5 (a) can be reduced by an equivalent single block as shown
in Figure 5(b).
If there is a summing point or take-off point between the blocks, the blocks cannot
be said to be in series.
Rule 2: Blocks in Parallel
The blocks which are connected in parallel get added algebraically (considering the
sign of the signal).

Figure 6: Blocks in Parallel

Considering the system of Figure 6 above
C (s) = R (s) G1 + R (s) G2 - R (s) G3
= R (s) [G1 + G2 - G3]
All the three blocks can be replaced by an equivalent single block as shown in the
figure below

This rule cannot be applied directly when a take-off point occurs as shown in the
figure below

For a parallel combination, the direction of flow of signals through the blocks must
be the same.
This rule cannot be applied in the system of figure below
Rule 3: Eliminate Feedback Loop
Eliminate feedback loop as follows

Figure 7: Feedback Loop

For negative feedback
G (s)
C (s)/R (s) =
1 + G (s) H (s)

For positive feedback

G (s)
C (s)/R (s) =
1 − G (s) H (s)

Now consider a system shown in Figure 8 below.

Here G1 andG2 are in series. First the series combination is obtained. Then the
feedback loop is
eliminated.

Figure 8: Feedback loop

Rule 4: Associative Law for Summing Point
The order of summing point can be changed if two or more summing points are in
series (output
remains the same).

Figure 9: Summing point

For Figure 9(a) above,
y = R (s) - B1
C (s) = y - B2 = R (s) - B1 - B2
For Figure 9(b) above,
y = R (s) - B2
C (s) = y - B1 = R (s) - B2 - B1
Which means output is same. Associative law for summing point is applicable only
to summing points which are directly connected to each other.
Rule 5: Shifting a summing point before a block
In Figure 10(a) below a summing point needs to be shifted before G as shown by
the dotted line.
Now C (s) = X + GR (s)
Figure 10: Summing point before a block
To get the same output, the transformation is shown in Figure 10(b)

C (s) = G (R + X/G) = X + GR (s)

which is the same output
NB: To shift a summing point before a block in the system, another block having a
block function
1/G is added before the summing point as shown in Figure 10(b)
Rule 6: Shifting a summing point after a block
Here our aim is to shift the summing point after G as shown by the dotted line.

Figure 11: Summing point after a block

Here the output of the system is C (s) = (R + X) G
Shifting the summing point without making any change as shown in Figure 11 (b)
above , the output becomes C (s) = RG + X
This output is not the same as the original output. To obtain the same output X is
multiplied by G. This means to shift a summing point after a block, add a block
having the same transfer
function at the summing point.

Rule 7: Shifting a take-off point before a block

To shift a take-off point before a block, add a block having the transfer function G
in series with the signal taking-off from the take-off point.

Figure 12: Take-off point before a block

From Figure 12(a) above , C = X = RG
Shifting the take-off point without making any change as shown in Figure 12(b),

C = RG andX = R
To satisfy the condition of Figure 12(a), a block having the transfer function G is
added in series with X as shown in Figure 12(c).
Rule 8: Shifting a take-off point after a block
To shift a take-off point after a block, add a block having the transfer function G1
in series with the signal taking-off from the take-off point.
Figure 13: Take-off point after a block
From Figure 13(a), C = RG and X = R
Shifting the take-off point after the block without doing any modifications as
shown in Figure 13(b) yields C = RG and X = RG
To satisfy the original system, a block with the transfer function G1 is added in
series with X as shown in Figure 13(c).

Rule 9: Shifting a take-off point after a summing point

To shift a take-off point after a summing point, one more summing point is added
in series with take-off point.
Suppose we have to shift a take-off point as shown with the dotted line in Figure
14(a)

Figure 14: Take-off point after a summing point

Here Z = R and C (s) = R ± Y
Shifting the take-off point after the summing point directly as shown in Figure
14(b) yields C (s) =R ± Y and Z = R ± Y
We achieve the original value of Z by the operation
Z=R±Y±Y
This operation is shown in Figure 14(c) below

Rule 10: Shifting a take-off point before a summing point

To shift a take-off point before a summing point, one more summing point is added
in series with take-off point.
Suppose we have to shift a take-off point as shown with the dotted line in Figure
15(a)

Here Z = R ± Y and C(s) = R ± Y

Shifting the take-off point after the summing point directly as shown in Figure
15(b) yields C(s) =R ± Y and Z = R
We achieve the original value of Z by adding a summing point in series with Z as
shown in Figure 15(c)
Figure 15: Take-off point before a summing point
Procedure to solve block diagram reduction problem
Step 1: Reduce the blocks in series
Step 2: Reduce the blocks in parallel
Step 3: Eliminate feedback path
Step 4: Always try to shift take-off points towards right and summing points
towards left.
Step 5: Repeat above procedure till getting simplest form
Step 6: Find out transfer function for the whole system. The transfer function of the
overall system is given by;
TF = C (s)/R (s)
Example 3.1
Find the single block equivalent by block diagram reduction for the
given system

Solution
G4 , G3 and G5 are in parallel. Apply rule 2

Blocks G2 and G3 + G4 + G5are in cascade. Apply rule 1

Rule 3 can be applied to feedback loop G1 and H1

Now rule 1 can be applied to cascade blocks in the forward path
G1 .
1+G1H1 and G2 (G3 + G4 + G5)

Rule 3 is applied to the resulting feedback loop

Rule 1 is applied to the resulting block and G6