Control Systems lab

Experiment 5: Block Diagram Reduction

Objective: The objective of this exercise will be to learn commands in MATLAB that would
be used to reduce linear systems block diagram using series, parallel and feedback
configuration.

List of Equipment/Software
Following equipment/software is required:

 MATLAB

Category Soft-Experiment

Deliverables
A complete lab report including the following:

 Summarized learning outcomes.

 MATLAB scripts and their results for examples, exercises and Dorf (text book)
related material of this lab should be reported properly.

Series configuration: If the two blocks are connected as shown below then the blocks are
said to be in series. It would like multiplying two transfer functions. The MATLAB
command for the such configuration is “series”.

The series command is implemented as shown below:

Example 1: Given the transfer functions of individual blocks generate the system transfer
function of the block combinations.
The result is as shown below:

Parallel configuration: If the two blocks are connected as shown below then the blocks
are said to be in parallel. It would like adding two transfer functions.

The MATLAB command for implementing a parallel configuration is “parallel” as shown

below:

Example 2: For the previous systems defined, modify the MATLAB commands to obtain the
overall transfer function when the two blocks are in parallel.

Feedback configuration: If the blocks are connected as shown below then the blocks are
said to be in feedback. Notice that in the feedback there is no transfer function H(s) defined.
When not specified, H(s) is unity. Such a system is said to be a unity feedback system.

The MATLAB command for implementing a feedback system is “feedback” as shown below:
When H(s) is non-unity or specified, such a system is said to be a non-unity feedback system
as shown below:

A non-unity feedback system is implemented in MATLAB using the same “feedback”

command as shown:

Example 3: Given a unity feedback system as shown in the figure, obtain the overall transfer
function using MATLAB:

The result is as shown below:

Example 4: Given a non-unity feedback system as shown in the figure, obtain the overall
transfer function using MATLAB:

The result is as shown below:

Poles and Zeros of System: To obtain the poles and zeros of the system use the MATLAB
command “pole” and “zero” respectively as shown in example 5. You can also use MATLAB
command “pzmap” to obtain the same.

Example 5: Given a system transfer function plot the location of the system zeros and poles
using the MATLAB pole-zero map command.

For example:
Example 5
The block diagram shown in figure blow is showing the parallel, series and feedback
connections. By using the rules of block diagram reduction, the closed loop block
diagram can be reduced to single block which gives the overall transfer function of the
system.

Program
%Determine the transfer function for given closed loop system in
block diagram representation.
%Transfer Functions: G1 = 5, G2 = s, G3= 1/(s^2+ s), H1=1
clear all
clc
syms s t
n1=[1 0]; % Numerator of G1
d1=[0 1]; %Denominator of G1
G1=tf(n1,d1,'inputname','Ei','outputname','Eo1')
n2=[5]; % Numerator of G2
d2=[1]; %Denominator of G2
G2=tf(n2,d2,'inputname','Ei','outputname','Eo2') % Determining the G2
n3=[1]; % Numerator of G3
d3=[1 1 0]; % Denominator of G3
G3=tf(n3,d3,'inputname','Eo','outputname','C') % Determining the G3
n4=[1]; % Numerator of H1
d4=[1]; % Denominator of H1
H1=tf(n4,d4,'inputname','C','outputname','B') % Determining the H1
[n5,d5]=parallel(n1,d1,n2,d2);
G_12=tf(n5,d5,'inputname','Ei','outputname','Eo') %Parallel Combination of G1and G2
[n6,d6]=series(n5,d5,n3,d3);
G_forward=tf(n6,d6,'inputname','Ei','outputname','C') %SeriesCombination of G_12
and G3
[n7,d7]=feedback(n6,d6,n4,d4);
G_overall=tf(n7,d7,'inputname','R','outputname','C') % Overall Transfer Function of
closed Loop Transfer Function
pzmap(G_overall) % To plot poles and zeros of Overall Transfer Function

Results:
Transfer function from input "Ei" to output "Eo1":
s
Transfer function from input "Ei" to output "Eo2":
5
Transfer function from input "Eo" to output "C":
1
s^2 + s
Transfer function from input "C" to output "B":
1
Transfer function from input "Ei" to output "Eo":
s+5
Transfer function from input "Ei" to output "C":
s+5
-------
s^2 + s
Transfer function from input "R" to output "C":
s+5
-------------
s^2 + 2 s + 5
Exercise 1: For the following multi-loop feedback system, get closed loop transfer function and the
corresponding pole-zero map of the system.

1 1 s2  1 s 1 s 1
 ;G  ;G  ; G4  ; H1  ; H2  2
Given G1 (s  10) 2
(s  1) 3 (s  4s  4)
2
(s  6) (s  2)

; H3  1

Exercise 2: Consider the feedback system depicted in the figure below

a. Compute the closed-loop transfer function using the ‘series’ and ‘feedback’ functions
b. Obtain the closed-loop system unit step response with the ‘step’ function and verify
that final value of the output is 2/5.

R(s) Controller Plant Y(s)

+
1 s+2
- s+1 s+3
 Exercise 3: A satellite single-axis altitude control system can be represented by the block
diagram in the figure given. The variables ‘k’, ‘a’ and ‘b’ are controller parameters, and ‘J’ is
the spacecraft moment of inertia. Suppose the nominal moment of inertia is ‘J’ = 10.8E8, and
the controller parameters are k=10.8E8, a=1, and b=8.

a. Develop an m-file script to compute the closed-loop transfer function

T(S) = θ (S)/ θd (S).
b. Compute and plot the step response to a 10o step input.
c. The exact moment of inertia is generally unknown and may change slowly with time. Compare the
step response performance of the spacecraft when J is reduced by 20% and 50%. Discuss your
results.

θd(s) Controller Spacecraft θ(s)

+
k(s + a) 1
Actual Altitude
Desired Altit ude s+b
-

Exercise 4: Consider the feedback control system given in figure, where

S+1 1
G(S) = and H(S) = .
S+2 S+1

R(s)
+ G(s)
Y(s)

-
H(s)

a. Using an m-file script, determine the close-loop transfer function.

b. Obtain the pole-zero map using the ‘pzmap’ function. Where are the closed-loop
system poles and zeros?
c. Are there any pole-zero cancellations? If so, use the ‘minreal’ function to cancel
common poles and zeros in the closed-loop transfer function.
d. Why is it important to cancel common poles and zeros in the transfer function?

Eng/ abdulsalam alhaboob