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Control Systems (Automotive)

Communication Systems (Railway)

Week 5
Block Diagrams and Signal Flow Graphs (SFGs)

Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore
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Chronology
 Instrumentation
 Introduction to control systems (open loop and close loops)
 Identification of process/actuator/controller and measurement in
control systems
 Need of instrumentation in control systems
Quiz 1
 Sensors and transducers for mechanical measurements (stress, strain,
temperature, pressure, flow and level etc.)
Mid Exam

 Control Systems
 Block diagrams and signal flow graphs (SFGs)

 Modeling of dynamics systems

 Time domain analysis of control systems Quiz 2
 Design of control system using different controllers.

 Control system case studies 3 Final Exam

Text Books:

Mechanical measurement by Thomas G. Bechwith, Roy D.

Marangone and J.H.Linhard, 6th edition, Pearson.

Automatic Control Systems by Farid Golnaraghi and B.C Kuo, 9th

edition, John Wiley & Sons.

Reference Books:
Modern Control Systems by Richard C. Dorf and Robert H. Bishop,
12th edition, Prentice Hall.

System Dynamics by Katsuhiko Ogata, 4th edition, Pearson Prentice

Hall
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Course Learning Objectives

Domain, PLOs
CLOs Description
Level Level
Students will be able to understand the control system (open loop
and close loop) and instrumentation system for the measurement of Cognitive, PLO1,
CLO1
temperature, pressure, flow and level for engineering applications. C2 High

Students will be able to apply the knowledge of applied mathematics

(differential equations and Laplace transform), block diagrams and
signal flow graphs for the modelling of the dynamical systems Cognitive, PLO2,
CLO2
C3 High
(mechanical, fluid, thermal and multidisciplinary systems).

Students will be able to conduct time domain analysis of control

systems for stability, steady state error and control structure (using P, Cognitive, PLO4,
CLO3
PI, PD and PID control laws). C4 High
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 B.C.KUO

The block diagrams modeling provide control engineers a better understanding of the composition and
interconnection of the components of control systems.

Input Process/Plant Output

Bicycle
Input f(t) Mass m(kg) Speed v(t)

Intro to SFG
U(s) G(s) X(s)
Node
Branch
X(s) = U(s) G(s)
Draw the SFGs of this BLOCK Diagram

U(s) G1(s) A(s) G2(s) X(s)

A(s) = U(s) G1(s)

X(s) = A(s) G2(s)

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 R(s) U(s) Y(s)
Draw the SFGs of this BLOCK Diagram

1
-H(s)
U(s) = R(s).(1) – H(s).Y(s)

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

1
-H(s)
U(s) = R(s).(1) – H(s).Y(s)

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

 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E Y3 Y2 Y1 Y0 Y

E=R-Y

-1 9
 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E 1 Y3 Y2 Y1 Y0 Y

E=R-Y
Y3 = E – H1Y1
-1
-1
 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E 1 Y3 G1 Y2 G2 Y1 G3 Y0 Y

E=R-Y
Y3 = E – H1Y1
Y2 = Y3 G1
Y1 = Y2 G2 -1
Y0 = Y1 G3 -1
 Definitions:

Node
Y0 Branch
Path
Forward Path
Forward Path Gain
Loop
Loop gain
G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

E=R-Y
Y2
Y3 = E – H1Y1
Y2 = Y3 G1 -H1
Y1 = Y2 G2
Y0 = Y1 G3 -1
Y = Y 0 + Y 2 G4
E=R-Y G4
Y3 = E – H1Y1 R E Y3 G1 G2 Y1 G3 Y0 Y
1 1 1
Y2 = Y3 G1
Y1 = Y2 G2 Y2
Y0 = Y1 G3
-H1
Y = Y 0 + Y 2 G4

Definitions: -1

Node: A small circle to define a variable is known as node.

Branch: A line segment to connect nodes.
Path: Succession of branches is known as path.
Forward Path: Starts from input node and ends at output node.
Forward Path Gain: Multiplication of branch gains in forward path.
Loop: A path that starts and ends at the same node (without branch and node repetition)
Loop gain: Multiplication of branch gains in loop.
 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

-H1

-1

M1 = 1.1.G1.G2.G3.1 = G1G2G3
M2 = 1.1.G1.G4 = G1G4

Definitions:

Forward Path: Starts from input node and ends at output node.
Forward Path Gain: Multiplication of branch gains in forward path.
 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

-H1

-1

L1 = 1.G1.G2. G3.1.(-1) = -G1G2G3

L2 = G1.G2.(-H1)= -G1G2H1
L3 = 1.G1.G4(-1) = -G1G4

Definitions:

Loop: A path that starts and ends at the same node (without branch and node repetition)
Loop gain: Multiplication of branch gains in loop.
 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

𝑌 𝑀 1 Δ 1 + 𝑀 2 Δ2 -H1
= M1 = 1.1.G1.G2.G3.1 = G1G2G3
𝑅 Δ
-1
M2 = 1.1.G1.G4 = G1G4
Δ =1− ( 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 ) + ( 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 )
Δ =1− ( 𝐿 1+ 𝐿 2+ 𝐿 3 ) + ( 0 ) =¿
L1 = 1.G1.G2. G3.1.(-1) = -G1G2G3
Δ=¿ 1+G1G2G3+G1G2H1+G1G4 L2 = G1.G2.(-H1)= -G1G2H1
Δ 1=1 − ( 𝑠𝑢𝑚𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑤𝑖𝑡h 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡h 𝑀 1 )
L3 = 1.G1.G4(-1) = -G1G4
Δ 1=1 − ( 0 )=1
Δ 2=1 − ( 𝑠𝑢𝑚𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑤𝑖𝑡h 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡h 𝑀 2 )
Δ 2=1 − ( 0 )= 1

𝑌 G 1 G2 G 3+G1 G 4
=
𝑅 1+ G 1G 2 G 3 + G1 G 2 H 1+ G 1 G 4
 𝑌 G 1 G2 G 3+G1 G 4
=
𝑅 1+ G 1G 2 G 3 + G1 G 2 H 1+ G 1 G 4

R G 1 G2 G 3+G 1 G 4 Y
1+ G 1G 2 G 3 + G1 G 2 H1 + G 1G 4

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 Y1 Y3
Y2 Y4
Y5

Draw the SFGs of this BLOCK Diagram and compute Y/X

X Y1 Y2 Y3 Y4 Y5 Y

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 Y3 Y1 = X – H3Y4
Y1
Y2 Y4 Y2 =Y1+ Y3 H1
Y5
Y3 = Y2 G1
Y4 = Y3 G2
Y5 = Y4G3
Y =Y5+ Y3 H2

Draw the SFGs of this BLOCK Diagram and compute Y/X

X Y1 Y2 Y3 Y4 Y5 Y

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 H2

X 1 Y1 Y2 G1 G2 Y4 G3 Y5 1
1

Y3 Y

H1

Y1 = X – H3Y4 -H3
Y2 =Y1+ Y3 H1
Y3 = Y2 G1
Y4 = Y3 G2
Y5 = Y4G3
Y =Y5+ Y3 H2
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 H2
X 1 Y1 Y2 G1 G2 Y4 G3 Y5 1
1

Y3 Y
H1

𝑌 𝑀 1 Δ1 + 𝑀 2 Δ 2
=
-H3
𝑋 Δ M1 = 1.1.G1.G2.G3.1 = G1G2G3
M2 = 1.1.G1.H2 = G1H2
Δ =1− ( 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 ) + ( 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 )
Δ =1− ( 𝐿 1+ 𝐿 2 )+ ( 0 ) =¿
L1 = 1.G1.G2.(-H3) = -G1G2H3
Δ=¿ 1+G1G2H3-G1H1 L2 = G1(H1)= G1H1
Δ 1=1 − ( 𝑠𝑢𝑚𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑤𝑖𝑡h 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡h 𝑀 1 )
Δ 1=1 − ( 0 )=1
Δ 2=1 − ( 𝑠𝑢𝑚𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐h𝑖𝑛𝑔 𝑤𝑖𝑡h 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡h 𝑀 2 ) 21

Δ 2=1 − ( 0 )= 1

𝑌 G 1 G 2 G 3 +G 1 H 2
= 21

𝑋 1+G 1 G 2 H 3 −G 1 H 1
2nd Lecture

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𝑌 5 𝑀 1 Δ1 + 𝑀 2 Δ 2 M1 = 1.1.G1.G2.G3.1 = G1G2G3
=
𝑌1 Δ
M2 = 1.G4.G3 = G4G3
Δ 1=1 − ( 0 )=1
Δ 2=1 − ( 0 )= 1

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𝑌 4 𝑀 1 Δ1 + 𝑀 2 Δ 2 M1 = 1.1.G1.G2 = G1G2
=
𝑌1 Δ
M2 = 1.G4. = G4
𝑌 4 G1 G 2+G 4
= Δ 1=1 − ( 0 )=1
𝑌1 Δ
Δ 2=1 − ( 0 )= 1

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𝑌 2 𝑀 1 Δ1
= M1 = 1 = 1
𝑌1 Δ
Δ 1=1 − ( − G 3 H 2 ) =1+𝐺 3 𝐻 2
𝑌 2 1+ G 3 H 2
=
𝑌1 Δ

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26
Solution:
Define Variables at different locations

27
 Y1 Y2 Y3

Solution:
 Define Variables at different locations
 Write equations of every variable
 Draw SFGs and compute 28
 Y1 Y2 Y3

N
2
10
1
R 1 1 E s2 Y1 1 Y2 s ( s  1)
Y3 Y Y
1 1

R
0.5s

-1 29
 N
2
10
1
R 1 1 E s2 Y1 1 Y2 s ( s  1)
Y3 Y Y
1 1

R
0.5s

-1
31
 Y1 Y2

N
-Gd
s5 10
1
1 E s  10 Y1 s ( s  5)
Y2 1 Y
Y 1

-1
32
 N
-Gd
s5 10
1
1 E s  10 Y1 s ( s  5)
Y2 1 Y
Y 1

R Y (s) M   M 22
 1 1
N ( s ) R ( s ) 0 

s5 10
1  Gd . .
-1 Y (s) s  10 s ( s  5)

Y (s) M   M 22 N ( s ) R ( s )0 
 1 1
N ( s ) R ( s )0 
To eliminate the effect of N on Y we
M1 = 1 = 1
s5 10
M2 = Gd . .
s  10 s ( s  5)
Δ 1=1 − ( 0 )=1

Δ 2=1 − ( 0 )= 1
s5 10 s5 10 33
L1  1. .   1  L1  1  (1. . )
s  10 s ( s  5) s  10 s ( s  5)
Y1

34
 Y1

1
K ( s  3)
1 E Y1 1
s ( s  1)( s  2) Y 1 Y

R
-H(s)

35

-1
 N

1
K ( s  3)
1 E Y1 1
s ( s  1)( s  2) Y 1 Y

R Y (s) M
-H(s)  1 1
N ( s ) R ( s )0 
K ( s  3)
1  H ( s ).
Y (s) s ( s  1)( s  2)

-1 N ( s ) R ( s ) 0 
Y (s) M
 1 1 To eliminate the effect of N on Y we
N ( s) R ( s )0 
M1 = 1 = 1
K ( s  3)
1  1  L 2  1  H ( s ).
s ( s  1)( s  2)
K ( s  3) K ( s  3)
L1  1. L 2   H ( s ).
s ( s  1)( s  2) s ( s  1)( s  2)

K ( s  3) K ( s  3)
  1  ( L1  L 2)  1  (1.  H ( s). ) 36
s ( s  1)( s  2) s ( s  1)( s  2)
 N

1
K ( s  3)
1 E Y1 1
s ( s  1)( s  2) Y 1 Y
E (s) M
 1 1
R R( s ) N ( s )0 
-H(s)
E ( s) 1

R( s) N ( s )0 1  K ( s  3) K ( s  3)
 H ( s). )
s ( s  1)( s  2) s ( s  1)( s  2)
-1
Put H(s) from previous solution
E (s) M 11

R( s) N ( s )0 

M1 = 1 = 1
1  1
K ( s  3) K ( s  3)
L1  1. L 2   H ( s ).
s ( s  1)( s  2) s ( s  1)( s  2)
K ( s  3) K ( s  3)
  1  ( L1  L 2)  1  (1.  H ( s). ) 37
s ( s  1)( s  2) s ( s  1)( s  2)
Homework/Practice Problems

3.7
3.9
3.12
3.16
3.21
3.22
3.28
3.29
3.33
3.37
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End of Lecture

Jaza k Allah
Question and Answer
39