Dr.

Khalid Hasan Masoud

Control Systems [ELE0334]

Example: Closed Loop Transfer Function - matrices

 Control Systems – Closed Loop Dr. Khalid Hasan Masoud

Input Output relationships.

𝐘(𝐬)
Find Block Diagram - Closed Loop Control System
𝐑(𝐬)
+ E(s) Y(s)
Solution R(s)
G(s)
_
E(s)=R(s) – Y(s)H(s)
Y(s)=G(s)E(s) = G(s)[R(s) –H(s) Y(s)] H(s)

Y(s) = G(s)R(s) – G(s)H(s)Y(s) So, [1+G(s)H(s)]Y(s) = G(s)R(s)

𝐘(𝐬) 𝐆(𝐬)
]−1 G(s) System closed loop transfer function ∴ = = [𝟏 + 𝐆 𝐬 𝐇(𝐬)
𝐑(𝐬) 𝟏+𝐆 𝐬 𝐇(𝐬)

- Given that [𝟏 + 𝐆 𝐬 𝐇(𝐬)] is nonsingular

 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function

+ E(s) Y(s)
1 −1 R(s)
G(s)
G(s) = s+1 s
forward path transfer function matrix _
1
2
s+2
H(s)
H(s) = 1 0 feedback path transfer function matrix
0 1
Determine the system closed loop transfer function matrix.
Y(s) G(s)
Hint: Find = = [1 + G s H(s)]−1 G(s)
R(s) 1+G s H(s)
1 −1 1 −1
1 0 1 0 1+
s+1 s s+1 s
Solution [1 + G s H(s)] = + 1 = 1
0 1 2 0 1 2 1+
s+2 s+2
 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function

+ E(s) Y(s)
R(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

1 −1 s+2 −1
1+ s+1 s H(s)
s+1 s
[1 + G s H(s)] = 1 = s+3
2 1+ 2
s+2 s+2

s+2 −1 −1
s+1 s Adj[1+G s H(s)]′
[1 + G s H(s)]−1 = =
s+3 ∆[1+G s H(s)]
2
s+2

Adj[1 + G s H(s)]′ = [ij cofactor of [1 + G s H s ]]′

 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function

+ E(s) Y(s)
R(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

s+2 −1 −1
s+1 s Adj[1+G s H(s)]′ H(s)
−1
[1 + G s H(s)] = =
s+3 ∆[1+G s H(s)]
2
s+2

Adj[1 + G s H(s)]′ = [ij cofactor of [1 + G s H s ]]′

s+2 −1 s+3 ′ s+3 1
−2
s+1 s s+2 s+2 s
Adj s+3 = 1 s+2 = s+2
2 −2
s+2 s s+1 s+1
s+2 s+3 2 s+3 2 s s+3 +2(s+1) s2 +3s+2s+2) 𝒔𝟐 +𝟓𝐬+𝟐)
∆[𝟏 + 𝐆 𝒔 𝐇(𝐬)] = [ ][ ] + = + = = =
s+1 s+2 s s+1 s s(s+1) s(s+1) 𝐬(𝐬+𝟏)
 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function

+ E(s) Y(s)
R(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

s+2 −1 −1
s+1 s Adj[1+G s H(s)]′ H(s)
−1
[1 + G s H(s)] = =
s+3 ∆[1+G s H(s)]
2
s+2

s+3 1
s+2 s s2 +5s+2)
Adj[1 + G s H(s)]′= s+2 ∆[1 + G s H(s)] =
s(s+1)
−2
s+1
s+3 1
s+2 s
s+2 s+3 1
−2 s+1 𝑠(𝑠+1) s+2 s
[1 + G s H(s)]−1 = 𝒔𝟐 +𝟓𝐬+𝟐)
= s+2
𝑠 2 +5𝑠+2)
𝐬(𝐬+𝟏) −2
s+1
 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function

+ E(s) Y(s)
R(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

H(s)

s+3 1 1 −1
𝑠(𝑠+1) s+2 s s+1 s
∴ [1 + G s H(s)]−1 G(s) = s+2 1
𝑠 2 +5𝑠+2)
−2 2
s+1 s+2

s+3 1 2 s + 3 −1 1
( )( )+ ( )( ) +
𝑠(𝑠 + 1) s+2 s+1 s s+2 s s(s + 2)
[1 + G s H s ]−1 G(s = 2
𝑠 + 5𝑠 + 2) −2 2(s + 2) 2 s+2
+ +
s+1 s+1 s (s + 1)(s + 2)
 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function E(s)

R(s) + Y(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

H(s)

s+3 1 2 s + 3 −1 1
( )( )+ ( )( ) +
𝑠(𝑠 + 1) s+2 s+1 s s+2 s s(s + 2)
∴ [1 + G s H s ]−1 G(s = 2
𝑠 + 5𝑠 + 2 −2 2(s + 2) 2 s+2
+ +
s+1 s+1 s (s + 1)(s + 2)

2 s + 3 + 2(𝑠 + 1)(𝑠 + 2) −s − 3 + 1
𝑠(𝑠 + 1) s(s + 1)(s + 2) s(s + 2)
[1 + G s H s ]−1 G(s = 2
𝑠 + 5𝑠 + 2 2 s+2 −2 3s + 2
s+1 s(s + 1)
 Control Systems – Matrices Dr. Khalid Hasan Masoud

Matrices – Closed Loop Transfer Function E(s)

R(s) + Y(s)
Y(s) G(s)
Continue Solution: = [1 + G s H(s)]−1 G(s) _
R(s)

H(s)

3²𝑠 + 9𝑠 + 4 −1
𝑠(𝑠 + 1) s(s + 1)(s + 2) s
[1 + G s H s ]−1 G(s = 2
𝑠 + 5𝑠 + 2 3s + 2
2
s(s + 1)
∴ the closed loop transfer function:
3²𝑠 + 9𝑠 + 4 −1
Y(s) G(s) 𝑠(𝑠 + 1) s(s + 1)(s + 2) s
= =
R(s) 1 + G s H(s) 𝑠 2 + 5𝑠 + 2 3s + 2
2
s(s + 1)
 Control Systems Dr. Khalid Hasan Masoud

Review: Transfer function, Block diagram and Signal flow graph.