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MATLAB Applications No. (2)

Block Diagram Reduction

 Objective:
The objective of this application is to reduce block diagrams to a single
transfer function through block diagram manipulation and reduction.
 Transfer Function:
A transfer function is a property of the system elements only, and is not
dependent on the excitation and initial conditions. The transfer function
is a mathematical relationship between the input and output of a control
system component. The transfer function of each component is a placed in
a block. Specifically, the transfer function is defined as the output divided
by the input, expressed as:
Output
Transfer Function =
Input

The transfer function description does not include an information

concerning the internal structure of the system and its behavior.
 Block Diagram:
A block diagram it is representation of the control system giving the
interrelation between the transfer function of various components. The
block diagram is obtained after obtaining the differential equation and
transfer function of all components of a control system. The arrow head
pointing towards the block indicates the input, and pointing away from
the block indicates the output.

Figure 3.1: General block representation of SISO system.

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The block diagram representation of a given system often can be reduced to

a simplified block diagram with fewer blocks than the original diagram. Since
the transfer functions represent linear systems, the addition and
multiplication is commutative.
There are three block diagrams elementary:

1. The blocks connected in series: The system transfer function can be

obtained by the product this blocks as shown in Figure 3.2.

Figure 3.2: Reduction of two blocks connected in series.

Therefore, the transfer function relating the output 𝑌(𝑠) to the input 𝑈(𝑠) is:
𝑌(𝑠)
= 𝐺1 (𝑠) 𝐺2 (𝑠)
𝑈(𝑠)

2. The blocks connected in parallel: The system transfer function can be

obtained by the sum or subtract this blocks as shown in Figure 3.3.

Figure 3.3: Reduction of two blocks connected in parallel.

Therefore, the transfer function relating the output 𝑌(𝑠) to the input 𝑈(𝑠) is:
𝑌(𝑠)
= 𝐺1 (𝑠) ± 𝐺2 (𝑠)
𝑈(𝑠)
3. The blocks connected in feedback loop: The system transfer function
can be obtained as shown in Figure 3.4.

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Figure 3.4: Reduction of two blocks connected in feedback loop.

Therefore, the transfer function relating the output 𝑌(𝑠) to the input 𝑅(𝑠)
is:
𝑌(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 ± 𝐺(𝑠) 𝐻(𝑠)
The block diagram representation of a given system often can be reduced
to a simplified block diagram with fewer blocks than the original diagram.

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Example 3.1: Represent the following transfer functions using MATLAB:

(𝑠 + 2)
𝟏. 𝐺(𝑠) =
(𝑠 3 + 4𝑠 + 5)
5
𝟐. 𝐺(𝑠) =
(𝑠 + 2)(𝑠 + 4)(𝑠 + 6)
2(𝑠 + 4)
𝟑. 𝐺(𝑠) =
𝑠(𝑠 + 2)(𝑠 + 3)
2 𝑒 −3𝑠
𝟒. 𝐺(𝑠) =
(𝑠 + 2)(𝑠 + 5)
Solution:
>> % 1. To represent the transfer function: G(s)=(s+2)/(s^3+4s+5) %
>> num=[1 2]; >> s=tf(‘s’);
>> den=[1 0 4 5]; >> G=(s+2)/(s^3+4*s+5)
>> G=tf(num,den)
Transfer function:
s+2
-----------------
s^3 + 4 s + 5
>> % 2. To represent the transfer function: G(s)=5/((s+2)(s+4)(s+6)) %
>> G=zpk([],[-2 -4 -6],5) >> s=zpk(‘s’);
Zero/pole/gain: >> G=5/((s+2)*(s+4)*(s+6))
5
-------------------------
(s+2) (s+4) (s+6)

>> % 3. To represent the transfer function: G(s)=2(s+4)/(s(s+2)(s+3)) %

>> G=zpk([-4],[0 -2 -3],2) >> s=zpk(‘s’);
Zero/pole/gain: >> G=2*(s+4)/(s*(s+2)*(s+3))
2 (s+4)
------------------
s (s+2) (s+3)

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>> % 4. To represent the transfer function: G(s)=2 exp(-3s)/((s+2)(s+5)) %

>> s=tf('s'); >> num=[2]; den=conv([1 2],[1 5])
>> G=2*exp(-3*s)/((s+2)*(s+5)) >> G=tf(num,den,’inputdelay’,3)
Transfer function:
2
exp(-3*s) * --------------------
s^2 + 7 s + 10
>> G=zpk(G)
Zero/pole/gain:
2
exp(-3*s) * ----------------
(s+5) (s+2)

Example 3.2: Determine the open loop transfer function for the system
shown in Figure 3.5.

Figure 3.5: Block diagram of Example 3.2.

Solution:
>> % To determine the open loop transfer function of Example 4.2 %
>> s=tf('s');
>> G1=1/(s*(s+1));
>> G2=2*(s+1)/(s+5);
>> G=series(G1,G2) % or: G=G1*G2
Transfer function:
2s+2
------------------------
s^3 + 6 s^2 + 5 s
>> G=minreal(G) % Cancel common factors %
Transfer function:
2
------------
s^2 + 5 s

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Example 3.3: Determine the 𝑌(𝑠)/𝑈(𝑠) for the system shown in Figure 3.6.

Figure 3.6: Block diagram of Example 3.3.

Solution:
>> % To determine the Y(s)/U(s) of Example 4.3 %
>> s=tf('s');
>> G1=4*(s+2)/(s*(s+4));
>> G2=2*s/(s+6);
>> G=parallel(G1,G2) % or: G=G1+G2
Transfer function:
2 s^3 + 12 s^2 + 32 s + 48
------------------------------------
s^3 + 10 s^2 + 24 s
Example 3.4: Consider the feedback control system in Figure 3.7.
Determine the closed loop transfer function in the case:
1. Negative feedback.
2. Positive feedback.

Figure 3.7: Block diagram of Example 3.4.

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Solution:
>> % To determine the closed loop transfer function of Example 3.4 %
>> % 1. In the case: Negative feedback %
>> s=tf('s');
>> G1=500/(s+1);
>> G2=1/(s+10);
>> H=1/(0.5*s+1);
>> G=series(G1,G2);
>> T=feedback(G,H) % T=feedback(G,H,-1), or T=G/(1+G*H) %
Transfer function:
250 s + 500
-------------------------------------------
0.5 s^3 + 6.5 s^2 + 16 s + 510
>> T=minreal(T)
T=
500 s + 1000
---------------------------------------
s^3 + 13 s^2 + 32 s + 1020
>> % 2. In the case: Positive feedback %
>> T=feedback(G,H,+1) % T=G/(1- G*H) %
Transfer function:
250 s + 500
----------------------------------------
0.5 s^3 + 6.5 s^2 + 16 s – 490
>> T=minreal(T)
T=
500 s + 1000
----------------------------------
s^3 + 13 s^2 + 32 s - 980

Example 3.5: A multi loop feedback control system is shown in Figure 3.8:
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Figure 3.8: Block diagram of Example 3.5.

Compute the closed loop transfer function using the series, parallel, and
feedback functions.

Solution:
>> % To determine Y(s)/R(s) using series, parallel, and feedback functions %
>> s=tf('s');
>> G1=2/(s+1);
>> G2=1/(s*(s+4));
>> G3=5/s;
>> H1=3;
>> H2=1/s;
>> G4=parallel(G1,G2);
>> G5=feedback(G3,H1);
>> G=series(G4,G5);
>> T=feedback(G,H2)
Transfer function:
10 s^3 + 45 s^2 + 5 s
-------------------------------------------------------
s^5 + 20 s^4 + 79 s^3 + 70 s^2 + 45 s + 5

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Example 3.6: A system has a block diagram as shown in Figure 3.9:

Figure 3.9: Block diagram of Example 3.6

Find the transfer function 𝑇(𝑠) = 𝑌(𝑠)/𝑅(𝑠) using MATLAB.

Solution:
First, to eliminate the loop 𝐺3 𝐺4 𝐻1 , we move 𝐻2 behind block 𝐺4 and
obtain Figure 3.10.

Figure 3.10: Block diagram reduction of the system of Figure 3.9.

>> % To determine Y(s)/R(s) using MATLAB %
>> syms G1 G2 G3 G4 H1 H2 H3
>> T1=G3*G4/(1-G3*G4*H1);
>> T2=T1*G2/(1+G2*T1*H2/G4);
>> T=T2*G1/(1+T2*G1*H3);
>> pretty(simplify(T))
G1 G2 G3 G4
---------------------------------------------------------
1 - G3 G4 H1 +G2 G3 H2 + G1 G2 G3 G4 H3

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Example 3.7: Simplify the block diagram shown in Figure 3.11. Then
obtain the closed loop transfer function 𝑌(𝑠)/𝑅(𝑠) using MATLAB.

Figure 3.11: Block diagram of a system.

Solution:
First, move the branch point between 𝐺3 and 𝐺4 to the right-hand side of
the loop containing 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 3.12.

Figure 3.12: Successive reduction of the block diagram shown in Figure 3.11.
>> % To determine Y(s)/R(s) using MATLAB %
>> syms s KI
>>G1=KI/s;G2=1/(2*s+1);G3=(s+5);
>>G4=1/(3*s+1);H1=1;H2=H1;H3=1/s;
>>T1=G1*G2/(1+G1*G2*H1);
>>T2=G3*G4/(1+G3*G4*H2);
>>T=T1*T2/(1-T1*T2*H3/(G1*G4))
>>pretty(simplify(T))
KI (s + 5)
--------------------------------------------
8 s3+13 s2 + 4 KI s -10 s + 6 KI -5

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Homework 3.1: Use MATLAB to determine 𝑌(𝑠)/𝑅(𝑠) for the system is

shown in Figure 3.13.

Figure 3.13: Block diagram of Homework 3.1.

----------------------------------------------------------------------------------------------------------------
Homework 3.2: Consider the printer belt drive system represented by the
block diagram as shown in Figure 3.14.

Figure 3.14: Printer belt drive system.

Do the following:
1. Find the open loop transfer function.
2. Find the closed loop transfer function.
3. Are there any pole-zero cancellations? If so, use the minreal function
to cancel common poles and zeros in the open loop and closed loop
transfer function.
4. Why is it important to cancel common poles and zeros in the transfer
function?
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Homework 3.3: A control system has a block diagram shown in Figure 3.15:

If: 𝐺1 (𝑠) = 1/𝑠, 𝐺2 (𝑠) = 10/(2𝑠 + 4), 𝐺3 (𝑠) = 3/𝑠, 𝐺4 (𝑠) = 3/(𝑠 + 1),

and 𝐻1 (𝑠) = 2/𝑠.

Find the closed loop transfer function 𝑌(𝑠)/𝑅(𝑠).

Figure 3.15: Block diagram of Homework 3.3.

-----------------------------------------------------------------------------------------------------------------
Homework 3.4: For the multi loop feedback system shown in Figure 3.16.

Figure 3.16: Multi loop feedback control system.

Use MATLAB to determine the overall transfer function 𝑌(𝑠)/𝑅(𝑠).

Khaled Mustafa Mahmoud Session: Spring 2017/2018