Control Systems

Engineering 1
LECTURE 9

Block diagram REDUCTION

BY
Mohammed Ahmed Al-Modhwahi

ENG. Mohammed Almodhwahi

 INTRODUCTION
Block diagram is a shorthand, graphical representation of a
physical system, illustrating the functional relationships
among its components.
OR
A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

BY/Eng.
Mohammed Ahmed Al-Modhwahi
 BLOCK DIAGRAM

The transfer function relationship

Y (s)  G(s)U (s)

can be graphically denoted through a block diagram.

U(s) Y(s)
G(s)

3
EQUIVALENT TRANSFORM OF BLOCK
DIAGRAM
1 Connection in series

U(s) X(s) Y(s)

G1(s) G2(s)

U(s) Y(s)
G(s)

G( s)  ?
Y ( s)
G( s)   G1 ( s)  G2 ( s)
U ( s) 4
2.Connection in parallel
U(s) Y1(s)
G1(s)
Y(S) U(s)
G(s) Y(s)

G2(s)
Y2(s)

G( s)  ?

Y ( s)
G(s)   G1 (s)  G2 (s)
U ( s)
BY/Eng.
Mohammed Ahmed Al-
Modhwahi
3. COMBINING SUMMING
POINTS

BY/Eng.
Mohammed Ahmed Al-Modhwahi
4. MOVING A PICKOFF POINT AHEAD
OF A BLOCK
5. MOVING A PICKOFF
POINT BEHIND A BLOCK

BY/Eng.
Mohammed Ahmed Al-Modhwahi
. 6.MOVING A SUMMING
POINT BEHIND A BLOCK3
7. MOVING A SUMMING
POINT AHEAD OF A BLOCK
 8. Negative feedback
R(s) U(s) Y(s)
_ G(s)
R(s) Y(s)
M(s)
H(s)

Y ( s)  U (s)G(s) Y ( s )   R( s )  Y ( s ) H ( s )  G ( s )

U (s)  R(s)  Y (s) H (s)
Transfer function of a negative feedback system:
G( s) gain of the forward path
M ( s)  
1  G(s) H (s) 1  gain of the loop 11
EXAMPLE-1: REDUCE THE BLOCK DIAGRAM TO
CANONICAL FORM.
EXAMPLE-1: CONTINUE.

However in this example step-4 does not apply.

However in this example step-6 does not apply.

BLOCK DIAGRAM: REDUCTION
EXAMPLE

H2

R _ C
+_ + G1 + G2 G3
+

H1

BY/Eng.
Mohammed Ahmed Al-Modhwahi
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

BY/Eng.
Mohammed Ahmed Al-Modhwahi
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2
H2
G1
R _ G1G2 C
+_ + G3
1  G1G2 H1

BY/Eng.
Mohammed Ahmed Al-Modhwahi
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

BY/Eng.
Mohammed Ahmed Al-Modhwahi
BLOCK DIAGRAM: REDUCTION
EXAMPLE 2

R G1G2G3 C
1  G1G2 H1  G2G3 H 2  G1G2G3

BY/Eng.
Mohammed Ahmed Al-Modhwahi
EXAMPLE-3: REDUCE THE BLOCK DIAGRAM.
EXAMPLE-3: CONTINUE.
 EXAMPLE-4: REDUCE THE BLOCK DIAGRAM.
(FROM NISE: PAGE-242)

BY/Eng.
Mohammed Ahmed Al-Modhwahi
EXAMPLE-5: CONTINUE.
 CHARACTERISTIC EQUATION
• The control ratio is the closed loop transfer function of the
system.
C( s ) G( s )

R( s ) 1  G( s )H ( s )

• The denominator of closed loop transfer function determines the

characteristic equation of the system.

• Which is usually determined as:

1  G( s )H ( s )  0
Figure: Feedback Control System

The equivalent or closed-loop

transfer function is
 CANONICAL FORM OF A FEEDBACK
CONTROL SYSTEM

The system is said to have negative feedback if the sign at the summing
junction is negative and positive feedback if the sign is positive.
Example-1: For the system represented by the following
block diagram determine:
1- Open loop transfer function
2-Feed Forward Transfer function
3-control ratio
4-feedback ratio
5-error ratio
6-closed loop transfer function
7-characteristic equation
8-closed loop poles and zeros if K=10.
 EXAMPLE-8: CONTINUE
First we will reduce the given block diagram to canonical •
form

K
s 1
 EXAMPLE-8: CONTINUE

K
s 1

K
 s 1
G
1  GH K
1 s
s 1
 EXAMPLE-8: CONTINUE
B( s )
1. Open loop transfer function  G( s )H ( s )
E( s )
C( s )
2. Feed Forward Transfer function  G( s )
E( s )

C( s ) G( s ) G(s )
3. control ratio 
R( s ) 1  G( s )H ( s )

4. feedback ratio B( s )  G( s )H ( s )
R( s ) 1  G( s )H ( s )

E( s ) 1 H (s )
5. error ratio 
R( s ) 1  G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function 
R( s ) 1  G( s )H ( s )

7. characteristic equation1  G( s )H ( s )  0
BY/Eng.
Mohammed Ahmed Al-
8. closed loop poles and zeros if K=10. Modhwahi