Transfer Function & Block Diagram

of Control System

Subject Code: BEC502

Credits: 4
Course Instructor: Mrs. Deepthi M S
Control Systems 2024-25 Course Instructor: Mrs.
Section: A
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Mathematical Modelling of Control Systems
• How to analyze a control system????????

• Solution: Establish a mathematical model

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Mathematical Modelling of Control Systems

Definition:

• Mathematically express dynamic relationship between input & output

of the control system.

• No mathematical model of a physical system is exact.

• The goal is to strive to develop a model that is adequate for the

problem at hand but without making the model overly complex.
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Mathematical Modelling of Control Systems
✓Mathematical model is not unique for a given control systems.
✓It can take any form like set of differential equations, transfer functions, block
diagrams, signal flow graphs etc.,
✓Based on the circumstances a suitable mathematical model is selected.

➢Examples
➢For optimal control problems, it is good to use state space representations.
➢For transient response or frequency response analysis of SISO, LTI systems
transfer function is suitable.

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Characteristic of mathematical model
➢Simplicity versus Accuracy

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Different Mathematical Models
• Differential equations model (Time domain).
• Transfer function model (s-domain).
• State space model (time domain).

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Differential equation
➢Linear ordinary differential equations
➢A wide range of systems in engineering are modeled mathematically by
differential equations
➢In general, the differential equation of an 𝑛𝑡ℎ order system is written as

• y(t) → output of the system

• x(t) → input of the system
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Establishment of Differential equation
How to establish differential equation ?????????

➢Determine the inputs and outputs of the system or component;

➢List differential equations according to the physical rules of each

component;

➢Obtain the differential equation sets by eliminating the intermediate

variables

➢Get the overall input-output differential equation of control system.

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Example 1 : RC Circuit

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Example 2 : RLC Circuit

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Why we need Laplace Transform????
Solving differential equations is difficult task!!!!!!!!!
• Firstly, we need to find homogeneous solution.
• Secondly, we nee to find non homogeneous solution.
• Lastly, solve initial value problems.


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Why we need Laplace Transform????

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Transfer function
➢It characterizes the input output relationship of linear, time invariant (LTI) system,
described by differential equations.

Definition:
✓Ratio of Laplace transform of the output (response function) to the Laplace
transform of the input (driving function) under the assumption that all initial
conditions are zero.

➢Its is a mathematical model of a LTI system!!!!!!!!!

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Important Comments on TF
✓Applicable to linear, time invariant, differential equation systems.

✓It is a mathematical model expressing differential equation that relates the

output variables to input variables.

✓It is a property of system itself, independent of magnitude & nature of the

input.

✓It does not provide information concerning to physical structure of the system.

✓Output response due to various inputs can be studied.

✓Transfer function of a system is unique.

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Examples :Electrical Circuit

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Examples :Electrical Circuit

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Op-amp in system control

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Integrodifferential equations

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Block Diagram Representation of Control
System
• The block diagram shows the functions performed by each component and signal flow
between components of the control system.

Block diagram → Pictorial representation

✓Easy to form overall block diagram of the system.

✓It does not give information on the physical construction of the system.
✓The block diagram of a given system is not unique.
✓It shows unilateral property. (signal can flow only in direction of arrows)
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 Example : Closed loop Motor Controller

Figure: Block Diagram of motor speed controller

Figure: Circuit Diagram of motor speed controller

NOTE: Tachometer is a device used to measure rotation speed of the shaft or

disk , example in motor.
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Example : RLC circuit
Laplace
Transformation

• Write the equations for the Laplace transformed circuit

(2)
(1)

• Write block diagrams for two equations individually and then

combine
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Continued.. For equation (2)
For equation (1)

Overall block diagram

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Elements of Block Diagram

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 Block Diagram of basic Closed Loop Control
System
Summing point Take off or
Branch Point

• R(s) = reference input.

• C(s) = output signal or controlled variable.
• B(s) = feedback signal.
• E(s) = error or actuating signal.
• G(s) = C(s)/ E(s) = forward path transfer function.
• H(s) = feedback transfer function.
• G(s) H(s) = B(s)/E(s) = open loop transfer function.
• C(s)/R(s) = closed loop transfer function.
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 Derivation of closed loop transfer function

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Open loop, closed loop and feed forward
transfer function
➢Open-loop transfer function.

➢Feed forward transfer function

➢Closed loop transfer function

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Basic closed loop transfer function

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Block Diagram Reduction

➢ The way of reducing a complex block diagram into a single block representing the transfer
function of the entire control process is called as the ‘Block Diagram Reduction’ technique.

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Block Diagram Reduction Rules
1. Blocks in Cascade:

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Block Diagram Reduction Rules
2. Blocks in Parallel

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 Continued…
3. Moving a Summing Point

Moving summing point

beyond a block

Moving summing point

ahead a block

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 Continued…
4. Moving a Take off point

Moving a takeoff point

ahead of a block

Moving a takeoff point

beyond a block

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 Continued…
4. Feedback

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Basic rules with
block diagram
transformation

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Block Diagram Reduction
Rules
• Rule 1 − Check for the blocks connected in series and simplify.
• Rule 2 − Check for the blocks connected in parallel and simplify.
• Rule 3 − Check for the blocks connected in feedback loop and simplify.
• Rule 4 − If there is difficulty with take-off point while simplifying, shift it towards
right.
• Rule 5 − If there is difficulty with summing point while simplifying, shift it
towards left.
• Rule 6 − Repeat the above steps till you get the simplified form, i.e., single block.
Note − The transfer function present in this single block is the transfer function of the overall block diagram.

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Problem 1:

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Problem 2:

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Problem 3:

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Problem 4:

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