Control Principles

Tutorial #3
Block Diagram
Block diagram

Transfer Function

Consists of Blocks

Can be reduced

G4
R (s ) Y (s )
G1 G2 G3

H2
H1

R(s ) Y (s )
G
Reduction techniques
1. Combining blocks in cascade or in parallel

G1 G2 G1G2

G1
G1  G2
G2

2. Moving a summing point behind a block

G G
G
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
6. Eliminating a feedback loop
G
G
1 GH
H

G
G
1 G

H 1

7. Swap with two neighboring summing points

A B B A
 Example 1

Find the transfer function of the following

block diagrams

(a)
G4
R(s) Y (s )
G1 G2 G3

H2
H1
 I
G4
R (s) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:
1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4  G2G3
 G4
R (s)
GG4 
B A G2 G3
Y (s )
G1 2 G 3

H2
H1G2

3. Moving pickoff point B behind block G4  G2G3

II
R (s ) B C
Y (s )
G1 G4  G2G3
H2
H1G2 1 /(G4  G2G3 )
 4. Eliminate loop III
R (s ) Y (s )
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3

Using rule 6
R (s ) G1 (G4  G2G3 ) Y (s )
1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s) G1 (G4  G2G3 )

T (s)  
R ( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2G3 )
 (b)

R (s ) Y (s )
G1 G2

H1 H2

H3
Solution:
1. Eliminate loop I
R (s ) A
G2 I
B
Y (s )
G1 G2
H1
1  GH2 H
2
2

H3
G2
2. Moving pickoff point A behind block 1  G2 H 2
R (s ) A G2 B
Y (s )
G1
1  G2 H 2

1  G2 H 2 II
H1 1  G2 H 2
G2 H 3  H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R (s ) G1G2 Y (s )
1  G2 H 2

H 1 (1  G2 H 2 )
H3 
G2

Using rule 6

Y (s) G1G2
T ( s)  
R( s) 1  G2 H 2  G1G2 H 3  G1 H1  G1G2 H1 H 2
 (c)
H4
R (s ) Y (s )
G1 G2 G3 G4

H3

H2

H1
Solution:
1. Moving pickoff point A behind block G4
I
H4
R (s) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
 2. Eliminate loop I and Simplify
R (s ) II Y (s )
G2G3G4 B
G1
1  G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G2G3G4 H 2  G4 H1
1  G3G4 H 4  G2G3 H 3 G4
 3. Eliminate loop II & IIII

R (s ) G1G2G3G4 Y (s )
1  G3G4 H 4  G2G3 H 3

H 2  G4 H 1
G4

Using rule 6

Y (s) G1G2G3G4
T ( s)  
R( s) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1
 (d)
H2

R (s ) A Y (s)
G1 G2 G3 B

H1

G4
Solution:
1. Moving pickoff point A behind block G3
I
H2

R (s) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2

B
G2 G3 B G2G3

1 H1
 H2
H1 G3 G3
II
R (s) G2G3 Y (s )
G1
1  G2 H1  G2G3 H 2

H1
G3

G4
3. Eliminate loop II

R (s ) G1G2G3 Y (s )
1  G2 H 1  G2G3 H 2  G1G2 H1

G4

Y (s) G1G2G3
T ( s)   G4 
R(s) 1  G2 H1  G2G3 H 2  G1G2 H1
 Example 2
Determine the effect of R and N on Y in the
following diagram

N
G4
R Y
G1 G2

H1
G3
In this linear system, the output Y contains two parts,
one part is related to R and the other is caused by N:

Y  Y1  Y2  T1R  T2 N

If we set N=0, then we can get Y1:

Y1  YN 0  T1 R

The same, we set R=0 and Y2 is also obtained:

Y2  YR 0  T2 N
Thus, the output Y is given as follows:

Y  Y1  Y2  YN 0  YR 0
Solution:
1. Swap the summing points A and B
N
G4
II
R G2 Y
G1
1  G2 H1
B A

G3

2. Eliminate loop II & simplify

N
G4
R G1G2 Y
G1G3 
1  G2 H1
Rewrite the diagram:
N
G4
R o G1G2 o Y
G1G3 
1  G2 H1

3. Let N=0
R G1G2 Y
G1G3 
1  G2 H1

We can easily get Y1

G1G2  G1G3  G1G2G3 H1
Y1  R
1  G2 H1  G1G2  G1G3  G1G2G3 H1
 4. Let R=0, we can get:
N Y

G1G2
G1G3 
1  G2 H1

G4
M

5. Break down the summing point M:

N Y
G1G2G4 G1G2
G1G3G4  G1G3 
1  G2 H1 1  G2 H1
 6. Eliminate above loops:
1
G1G2G4
1  G1G3G4  G1G2
N 1  G2 H1 1  G1G3 
1  G2 H1 Y

1  G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1

Y2  N
1  G2 H1  G1G2  G1G3  G1G2G3 H1

7. According to the principle of superposition, Y1 and Y2

can be combined together, So:

Y  Y1  Y2
1
 [(G1G2  G1G3  G1G2G3 H1 ) R
1  G2 H1  G1G2  G1G3  G1G2G3 H1
 (1  G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1 ) N ]
End