EXAMPLE PROBLEMS AND SOLUTIONS

A–2–1. Simplify the block diagram shown in Figure 2–17.

Solution. First, move the branch point of the path involving H1 outside the loop involving H2 , as
shown in Figure 2–18(a). Then eliminating two loops results in Figure 2–18(b). Combining two
blocks into one gives Figure 2–18(c).
A–2–2. Simplify the block diagram shown in Figure 2–19. Obtain the transfer function relating C(s) and
R(s).

H1

R(s) + C(s)
+ G +
–

Figure 2–17
Block diagram of a H2
system.

H1
G

R(s) + C(s)
(a) + G +
–

H2

R(s) G H1 C(s)
(b) 1+
1 + GH2 G
Figure 2–18
Simplified block
diagrams for the
R(s) G + H1 C(s)
system shown in (c)
Figure 2–17. 1 + GH2

R(s) X(s) C(s)

G1 + G2 +
+ +

Figure 2–19
Block diagram of a
system.

46 Chapter 2 / Mathematical Modeling of Control Systems

 R(s) C(s)
G1 + G2 +
+ +

(a)

R(s) C(s)
G1 + 1 G2 +
+

(b)

Figure 2–20 R(s) C(s)

Reduction of the G1G2 + G2 + 1
block diagram shown
in Figure 2–19. (c)

Solution. The block diagram of Figure 2–19 can be modified to that shown in Figure 2–20(a).
Eliminating the minor feedforward path, we obtain Figure 2–20(b), which can be simplified to
Figure 2–20(c). The transfer function C(s)/R(s) is thus given by
C(s)
= G1 G2 + G2 + 1
R(s)
The same result can also be obtained by proceeding as follows: Since signal X(s) is the sum
of two signals G1 R(s) and R(s), we have
X(s) = G1 R(s) + R(s)
The output signal C(s) is the sum of G2 X(s) and R(s). Hence
C(s) = G2 X(s) + R(s) = G2 CG1 R(s) + R(s) D + R(s)
And so we have the same result as before:
C(s)
= G1 G2 + G2 + 1
R(s)
A–2–3. Simplify the block diagram shown in Figure 2–21. Then obtain the closed-loop transfer function
C(s)/R(s).

H3

R(s) + C(s)
+ G1 + G2 + G3 G4
– –

Figure 2–21
Block diagram of a H1 H2
system.

Example Problems and Solutions 47

 1 H3
G1 G4

R(s) + C(s)
+ + G1 G2 + G3 G4
– –

H1 H2

(a)

H3
G1G4

R(s) G1 G2 G3 G4 C(s)
+
+
1 + G1 G2 H1 1 + G3 G4 H2
(b)
Figure 2–22
Successive R(s) C(s)
G1 G2 G3 G4
reductions of the
1+ G1 G2 H1 + G3 G4 H2 – G2 G3 H3 + G1 G2 G3 G4 H1 H2
block diagram shown
in Figure 2–21. (c)

Solution. First move the branch point between G3 and G4 to the right-hand side of the loop con-
taining G3 , G4 , and H2 . Then move the summing point between G1 and G2 to the left-hand side
of the first summing point. See Figure 2–22(a). By simplifying each loop, the block diagram can
be modified as shown in Figure 2–22(b). Further simplification results in Figure 2–22(c), from
which the closed-loop transfer function C(s)/R(s) is obtained as
C(s) G1 G2 G3 G4
=
R(s) 1 + G1 G2 H1 + G3 G4 H2 - G2 G3 H3 + G1 G2 G3 G4 H1 H2

A–2–4. Obtain transfer functions C(s)/R(s) and C(s)/D(s) of the system shown in Figure 2–23.
Solution. From Figure 2–23 we have
U(s) = Gf R(s) + Gc E(s) (2–47)
C(s) = Gp CD(s) + G1 U(s)D (2–48)
E(s) = R(s) - HC(s) (2–49)

Gf D(s)

R(s) E(s) + U(s) + C(s)

+ Gc + G1 + Gp
–

Figure 2–23
Control system with
reference input and H
disturbance input.

48 Chapter 2 / Mathematical Modeling of Control Systems

 By substituting Equation (2–47) into Equation (2–48), we get

C(s) = Gp D(s) + G1 Gp C Gf R(s) + Gc E(s) D (2–50)

By substituting Equation (2–49) into Equation (2–50), we obtain

C(s) = Gp D(s) + G1 Gp EGf R(s) + Gc CR(s) - HC(s)D F

Solving this last equation for C(s), we get

C(s) + G1 Gp Gc HC(s) = Gp D(s) + G1 Gp AGf + Gc BR(s)

Hence
Gp D(s) + G1 Gp AGf + Gc BR(s)
C(s) = (2–51)
1 + G1 Gp Gc H

Note that Equation (2–51) gives the response C(s) when both reference input R(s) and distur-
bance input D(s) are present.
To find transfer function C(s)/R(s), we let D(s)=0 in Equation (2–51). Then we obtain

C(s) G1 Gp AGf + Gc B
=
R(s) 1 + G1 Gp Gc H

Similarly, to obtain transfer function C(s)/D(s), we let R(s)=0 in Equation (2–51). Then
C(s)/D(s) can be given by

C(s) Gp
=
D(s) 1 + G1 Gp Gc H

A–2–5. Figure 2–24 shows a system with two inputs and two outputs. Derive C1(s)/R1(s), C1(s)/R2(s),
C2(s)/R1(s), and C2(s)/R2(s). (In deriving outputs for R1(s), assume that R2(s) is zero, and vice
versa.)

R1 + G1 C1
−

G2

G3
Figure 2–24
System with two
−
inputs and two R2 + G4 C2
outputs.

Example Problems and Solutions 49