CONTROL SYSTEMS

Lecture-5 UNIT-I

Block Diagram Algebra

Dr.Y.CHALAPATHI RAO
ASSOCIATE PROFESSOR
Dept of ECE, VNR VJIET
Need of Block Diagram Algebra

 If the system is simple & has limited parameters then it

is easy to analyze such systems using the methods

discussed earlier i.e. transfer function, if the system is

complicated and also have number of parameters then

it is very difficult to analyze it.

Need of Block Diagram Algebra

 To overcome this block diagram

problem representation method is
 used.
It is a simple way to represent any practically
complicated system. In this each component of the
system is represented by a separate block known as
functional block.
 These blocks are interconnected in a proper sequence.
Block Diagram Fundamentals

 Block Diagram: It is shorthand, pictorial representation

of the cause and effect relationship between input and

output of a physical system.

Inpu Outpu
t
BLOCK t
Block Diagram Fundamentals

 Output: The value of the input is multiplied to

the value of block gain to get the output.

X(s Y(s
)
3s )

Outpu Y(s)= 3s.

t X(s)
Block Diagram Fundamentals

 Summing Point: Two or more signals can be

added/ substracted at summing point.

y
+
x outpu
+ t Output
=x+y-z
-
z
Block Diagram Fundamentals

 Take off Point: The output signal can be applied to two

or more points from a take off point.

Z Z

Take off
Z point
Block Diagram Fundamentals
 Forward Path: The direction of flow of signal is from input
to output
Forward Path

G1 G2
C(s
R(s)
)
+ -

H1

Feedback Path
 Feedback Path: The direction of flow of signal is from
output to input
 Block Diagram Reduction Techniques

Rule 1: For blocks in cascade

Gain of blocks connected in cascade gets
multiplied with each other.

R(s C(s
R(s G1 R1(s) G2 C(s G1G2
) ) ) )

R1(s)=G1R(
s) C(s)=
C(s) =G2R1(s) G1G2R(s)
=G1G2R(
s)
R(s G1 G2 G3 C(s
) )
Find
Equivalent

R(s G1G2G3 C(s

) )
 R(s G1 G2 G3 C(s
) )

R1(s)

Find
Equivalent

R(s
G1G2G3
C(s R(s G1G2 G3 C(s
) ) ) )

R1(s
)
 Block Diagram Reduction Techniques
Rule 2: For blocks in Parallel
Gain of blocks connected in parallel gets added
algebraically.
G1 R1(s
)

+
R(s C(s R(s G1-G2+G3 C(s
)
G2 R2(s) -
) ) )
+
G3 R3(s
)

C(s)= R1(s)-R2(s) C(s)= (G1-G2+G3)

+R3(s) R(s)
= G1R(s)-G2R(s)
+G3R(s)
C(s)=(G1-G2+G3)
 Block Diagram Reduction Techniques

Rule 3: Move a take off point ahead (after) the block

R(s C(s
R(s
)
G C(s
) )
G )

1/G
X

C(s)=GR(s)
C(s)=GR( and
s) X=C(s).
an {1/G}
d =GR(s)
X=R(s)
 Block Diagram Reduction Techniques

Rule 4: Move a take off point beyond (before) the block

C(s
R(s
)
G )
R(s
)
G C(s
)

G
X
X

C(s)=GR(s) C(s)=GR(
and s)
X=C(s)=GR( and
s) X=GR(
s)
 Block Diagram Reduction Techniques

Rule 5: Move summing point ahead (after) the block

R(s) C(s + C(s

+ G )
R(s
)
G )
+ +

X G
X

C(s)=G{R(s) C(s)=GR(s)
+X} +XG
=GR(s) =GR(s)+XG
 Block Diagram Reduction Techniques

Rule 6: Move summing point beyond (before) the block

+ C(s
R(s G )
R(s)
G C(s
) + )
+ +
X 1/G

C(s)=R(s)G
C(s)=G{R(s)
+X
+X/G}
=GR(s)+X
 Block Diagram Reduction Techniques

Rules 7 to 9: Associative Law for Summing Points,Splitting

and Combining summing points
The order of summing points can be changed if two or more
summing points are in series and Splitting summing point
and Combining summing points.
C(s R(s) C(s
R(s) + X
) + X
)
+ +
- -
B1 B B2 B
2 1
X=R(s)- X=R(s)-
B1 B2
C(s)=X-B1
C(s)=X-
C(s)=R(s)-B1- C(s)=R(s)-B2-
B2 B1
 Block Diagram Reduction Techniques

Rule 10: Eliminate Feedback Loop

R(s)
E(s G C(s
+ ) )
R(s G C(s
+ ) )
1  GH
-
B(s H
)

C(s) G
 In
R(s) 1  General
GH
 From Shown
Figure,
E(s)  R(s)  B(s)
an
R(s d C(s)  G.E(s)
E(s C(s
)
+- )
G )
 G[R(s) 
B(s)]
Bu  GR(s)  GB(s)
B(s t B(s)  H.C(s)
)
H
C(s)  G.R(s) 
G.H.C(s)
C(s)  G.H 
GR(s)
C(s){1 G.H}  G.R(s)

For Negative C(s)

 
Feedback
 From Shown Figure,
E(s)  R(s) 
an B(s)
R(s d C(s)  G.E(s)
E(s C(s
) +
)
G )  G[R(s) 
+
B(s)]
B(s
Bu  GR(s) 
)
H t GB(s)
B(s)  H.C(s)
C(s)  G.H 
C(s)  G.R(s) 
GR(s)
G.H.C(s)
C(s){1 G.H} 
G.R(s)
For Positive C(s) 
 
Feedback G R(s)
Block Diagram Reduction Techniques

 While solving block diagram for getting single

block

equivalent, the said rules need to be applied. After

each simplification a decision needs to be taken. For

each decision we suggest preferences as

Block Diagram Reduction Techniques

First Choice

First Preference: Rule 1 (For series)

Second Preference: Rule 2 (For parallel)

Third Preference: Rule 10 (For feedback loop)

Block Diagram Reduction Techniques

Second Choice
(Equal Preference)

Rule 3/4 Moving take off point before/after the block

Rule 4/6 Moving summing point before/after the block

Rule 7/8/9 Adjusting summing order

 Example 1

G4

+
+ G1 G2 G3 + C(s
R(s) + G6
)
- - +

H1 G5

H2
 Rule 1 cannot be used as there are
no immediate series blocks.
 Hence Rule 2 can be applied to G4, G3, G5 in
parallel to get an equivalent of G3+G4+G5
 Example 1 cont….

Apply Rule 2
Blocks in
G4
Parallel

+
+ G1 G2 G3 + C(s
R(s) + G6
)
- - +

H1 G5

H2
 Example 1 cont….

Apply Rule Blocks in

1 series

R(s) + + G1 G2 C(s
G3+G4+G5 G6
)
- -

H1

H2
 Example 1 cont….

Apply Rule Elimination of feedback

10 loop

R(s + + G1 C(s
G2(G3+G4+G5) G6
) )
- -

H1

H2
 Example 1 cont….

Apply Rule Blocks in

1 series

R(s) + G1 G2(G3+G4+G5) G6
C(s
)
-
1  G1H1

H2
 Example 1 cont….

Apply Rule Elimination of feedback

10 loop

R(s) +
G1G2(G 3  G 4  G6
C(s
)
- G 5) 1 
G1H1

H2
Example 1 cont….

Apply Rule Blocks in

1 series

R(s
G1G2(G 3  G 4  G 5) G6
C(s
)
) 1  G1H1  G1G2H 2(G 3  G 4 
G 5)
Example 1 cont….

R(s G1G2G6(G 3  G 4  G 5) C(s

) )
1  G1H1  G1G2H 2(G 3  G 4
 G 5)
Example 1 cont….

C (s) G1G2G6(G 3  G 4 
R (s) G 5)  G1G2H 2(G 3  G
1  G1H1
 4  G 5)
Example 2

G4

+
R(s) + + G1 G2 G3 + C(s
)
+ -

H1

H2
Example 2 cont….

G4
Apply Rule 1
Blocks in
series
+
R(s) + + G1 G2 G3 + C(s
)
+ -

H1

H2
Example 2 cont….

G4
Apply Rule 2
Blocks in
parallel
+
R(s) + + G1G2 G3 + C(s
)
+ -

H1

H2
Example 2 cont….

Apply Rule 10
Elimination of feedback
loop

R(s) + + G1G2 G3+G4 C(s

)
+ -

H1

H2
Example 2 cont….

Apply Rule Blocks in

2 series

R(s) + G1G2 G3+G4 C(s

)
+ 1  G1G2H1

H2
Example 2 cont….

Apply Rule Elimination of feedback

10 loop

R(s) + G1G2(G 3  G C(s

)
+ 4) 1 
G1G2H1

H2
 Example 2 cont….

R(s C(s
G1G2(G 3  G 4)
) )
1  G1G2H1  G1G2G3H 2 
G1G2G4H 2
Example 2 cont….

C(s) G1G2(G 3  G
R(s 4)  G1G2G3H 2 
1  G1G2H1

) G1G2G4H 2
Example 3

G5

+
G1 + G2 G3 + G4 C(s
R(s) +
)
- -

H1

H2
Example 3 cont….
Apply Rule Elimination of feedback
10 loop
G5

+
G1 + G2 G3 + G4 C(s
R(s) +
)
- -

H1

H2
Example 3 cont….
Apply Rule Blocks in
1 series
G5

+
G1 G2 G3 + G4 C(s
R(s) +
1  G2H1 )
-

H2
Example 3 cont….
Apply Rule Blocks in
2 parallel
G5

+
G1G2G3 + G4 C(s
R(s) +
1 )
-
G2H1

H2
Example 3 cont….

Apply Rule 1 Blocks

in series

R(s) + G1G2G3 G4 C(s

G 5  1  G2H1 )
-

H2
Example 3 cont….
Apply Rule Elimination of feedback
10 loop

C(s
R(s) + G1G2G3
G 4 ( G 5  1  G 2 H 1) )
-

H2
Example 3 cont….

R(s G4G5  G2G4G5H1  G1G2G3G4 C(s

) 1 G2H1 G4G5H 2  G2G4G5H1H 2  )
G1G2G3G4H 2
Example 3 cont….

C(s) G4G5  G2G4G5H1 

R(s 1  G2H1G1G2G3G4
 G4G5H 2  G2G4G5H1H 2 

) G1G2G3G4H 2
Example 4

+ - G1 + G2 C(s
R(s) +
)
- -

H1 H2
Example 4 cont….
Apply Rule Elimination of feedback
10 loop

-
R(s) + + G1 + G2 C(s
)
- -

H1 H2
Example 4 cont….

+ - G1 G2 C(s
R(s) +
1  G2H 2 )
-

H1
Now Rule 1, 2 or 10 cannot be used
directly.
There are possible ways of going
ahead.
a. Use Rule 7 & interchange order of summing
b. so
Shift take off10
point
canafter block reduce
G 2
that Rule be used
1  Gon
2 H 2G.H1 loop.
by Rule 1, followed by Rule 10.

Which option we have to use????

Example 4 cont….
Apply Rule Exchange summing
7 order

1 2
R(s) + + - G1 G2 C(s
)
-
1  G2H
2
H1
Example 4 cont….
Apply Rule 10 Elimination feedback
loop

2 - 1
R(s) + + G1 G2 C(s
1  G2H 2 )
-

H1
Example 4 cont….
Apply Rule 1 Bocks
in series

2 -
R(s) + G1 G2 C(s
1  G1H1 1  G2H 2 )
Example 4 cont….

2 -
R(s) + C(s
G1G2
)
1  G1H1  G2H 2  G1G2H1H 2

Now which Rule will be

applied O
-------It is blocks in R
parallel
-------It is feed back
 Example 4 cont….
Let us rearrange the block diagram to
understand Apply Rule 10 Elimination of
feed back loop

2
R(s) + C(s
G1G2
)
1  G1H1  G2H 2  G1G2H1H 2
-
Example 4 cont….

R(s G1G2 C(s

) 1  G1H1  G2H 2  G1G2H1H 2  )
G1G2
Example 4 cont….

C(s) G1G
2 2  G1G2H1H
R(s 1  G1H1  G2H

) 2  G1G2
 Note 1: According to Rule 8
 By corollary, one can split a summing point
to two summing point and sum in any order

B
B

R(s)
+
G C(s
R(s + + + G C(s
)
+ - ) )
-

H
H
Example 5
Simplify, by splitting
second summing point
H1
as
said in note 1

-
R(s) + + G1 G2 G3 C(s
)
- -

H2

H3
 Example 5 cont….
Apply rule 10
H1 Elimination of feedback
loop

+ + + - G1 G2 G3 C(s
R(s )
)
- -

H2

H3
 Example 5 cont….

Apply rule Blocks in

1 series

+ + G1 G2 G3 C(s
R(s 1  G1H1 )
)
- -

H2

H3
 Example 5 cont….
Apply rule Elimination of feedback
10 loop

+ + G1G2 G3
1  G1H1 C(s
R(s - - )
)

H2

H3
 Example 5 cont….

Apply rule Blocks in

1 series

+ G1G2 G3
1  G1H1  G1G2H C(s
R(s - )
) 2

H3
 Example 5 cont….
Apply rule 10 Elimination of feedback
loop

+ G1G2G3
R(s 1  G1H1  G1G2H 2 C(s
) - )

H3
Example 5 cont….

R(s G1G2G3 C(s

) )
1  G1H1  G1G2H 2 
G1G2G3H 3
Example 5 cont….

G1G 2G
C(s)
R(s)  1  G1H1  G1G2H
3 2
G1G2G3H 3
Example 6
Apply rule 3
Move take off point after block
G5
G3

+
G1 + G2 G3 G4 + C(s
R(s) +
)
- -

H1

H2
Example 6 cont….
Apply rule 1 Blocks in
series
1/ G5

G3

+
G1 + G2 G3 G4 + C(s
R(s) +
)
- -

H1

H2
Example 6 cont….
Apply rule 2 Blocks in
parallel
G5/
G3

+
G1 + G2G3 G4 + C(s
R(s) +
)
- -

H1

H2
Example 6 cont….
Apply rule 10 Feedback loop

G4+(G5/
G1 + G2G3 C(s
R(s) + G3)
)
- -

H1

H2
Example 6 cont….
Apply rule 1 Blocks in
series

G4+(G5/
G1 G2G C(s
R(s) + G3)
3 )
- 1
G2G3H1

H2
Example 6 cont….

G2G C(s
R(s) + (G1) )(G 4 
1 3 G )
- ( G5
G2G3H1 ) 3

H2
Example 6 cont….

G2G
 )(G 4 
1 3 G
(G1)( G5
G2G3H1 ) 3
G2G G 4G3 
 )(
1 3G2G3H1
(G1)(
G3 G5
)

G1G2(G 4 G 3  G

5) 1  G2G3H1
Example 6 cont….

Apply rule 10 Feedback

loop

G1G2(G 4 G 3  G C(s
R(s) + )
- 5) 1 
G2G3H1

H2
Example 6 cont….

G1G2(G 4 G 3  G 5) C(s
R(s )
) 1  G2G3H1  G1G2H 2(G 3G 4  G
5)
Example 6 cont….

G1G2(G 4 G 3  G
C(S)
R(S)  1  G2G3H1
5)  G1G2H 2(G 3G 4  G
5)
Example 7
Apply rule Move take off point after block G4
3

H2

-
G1 + G2 + G3 G4
R(s) +
- - C(s
)

H3

H1
Example 7 cont….
Apply rule Blocks in
1 series

H2 1/G4

-
G1 + G2 + G3 G4
R(s) +
- - C(s
)

H3

H1
Example 7 cont….

Apply rule 10 Feedback

loop H2/
G4

-
G1 + G2 + G3G4
R(s) +
- - C(s
)

H3

H1
Example 7 cont….

Apply rule Blocks in

1 series
H2/
G4

-
R(s) + G1 + G2 G3G4

- 1  G3G4H 3 C(s
)

H1
Example 7 cont….
Apply rule Feedback
10 loop

H2/
G4
-
R(s) + G1 +
G2G3G4
- C(s
1 
)
G3G4H 3

H1
Example 7 cont….

Apply rule Blocks in

1 series

C(s
R(s) + G1 G2G3G4 )
-
1  G3G4H 3  G2G3H 2

H1
Example 7 cont….
Apply rule 10 Feedback
loop

G1G2G3G4 C(s
R(s) + )
1  G3G4H 3  G2G3H 2
-

H1
Example 7 cont….

R(s G1G2G3G4 C(s

) 1  G3G4H 3  G2G3H 2  )
G1G2G3G4H1
Example 7 cont….

G1G2G3G
C(S)
R(S)  1  G3G4H 3 4G2G3H 2 
G1G2G3G4H1
Example 8
Simplify, by splitting 3rd summing point as given in
Note 1
G3

3
1 2 +
R(s) + + G1 G2 + G4 C(s
)
- -
-

H2 H1
Example 8 cont….
Apply Rule Elimination of Feedback
10 loop
G3

R(s) + + G1 G2 + + + G4 C(s
)
- -
-

H2 H1
Example 8 cont….
Apply Rule Move take off point after
3 block
G3

+
R(s) + + G1 G2 + C(s
G4 )
1
- -
G4H1

H2
Example 8 cont….
Apply Rule 1
Blocks in
series G3/
G2

+
R(s) + + G1 G2 + C(s
G4 )
1
- -
G4H1

H2
Example 8 cont….
Now which rule we have to use?

G3/
G2

+
R(s) + + G1G2 + C(s
G4 )
1
- -
G4H1

H2
Example 8 cont….
Apply Rule 2
Blocks in
parallel G3/
G2

+
R(s) + + G1G2 1 + C(s
G4 )
1
- -
G4H1

H2
Example 8 cont….
Apply Rule Blocks in
1 series

R(s) + + G1G2 G3
C(s
1 G4 )
G2 1
- -
G4H1

H2
Example 8 cont….

Apply Rule 10 Elimination of Feedback

Loop

+ G1G2 (G 3  G C(s
R(s) +
2)G4 G 2(1  )
- - G4H1)

H2
Example 8 cont….
Apply Rule Blocks in
1 series

G1G2 (G 3  G C(s
R(s) +
1  G1G2H 2 2)G4 G 2(1  )
-
G4H1)
Example 8 cont….
Apply Rule Elimination of Feedback
10 loop

G1G4(G 3  G 2) C(s
R(s) +
(1  G1G 2 H 2)(1  G4H1) )
-
Example 8 cont….

R(s G1G4(G 3  G 2) C(s

) 1 G 4 H1 G1G2H 2  G1G2G4H1H 2  )
G1G4(G 2  G 3)
Example 8 cont….

C(s) G1G4(G 3  G
2) 2  G1G2G4H1H 2 
R(s 1  G 4 H1  G1G2H

) G1G4(G 2  G 3)
Example 9
Apply rule Blocks in
2 Parallel
G4

+
G1 + G2 + G3 C(s
R(s) + )
- + -

G5 - H1
H2

H3
Example 9 cont….
Apply rule 10 Elimination of Feedback
Loop

G1+G4+ + G2 + G3
R(s) + G5
- - - C(s
)
H1
H2

H3
Example 9 cont….
Apply rule Blocks in
1 Series

G1+G4+G5 G2 G3 C(s
R(s) +
1  G2H1 )
- 1  G3H
2

H3
Example 9 cont….
Apply rule 10 Elimination of Feedback
loop

G2G3(G1  G 4  G C(s
R(s) + )
-
5) (1  G2H1)(1  G 3
H 2)

H3
Example 9 cont….

R(s G2G3(G1  G 4  G 5) C(s

) )
1  G2H1  G3H 2  G2G3H1H 2  G2G3H 3(G1  G 4 
G 5)
Example 9 cont….

C(s) G2G3(G1  G 4  G 5)

R(s) 1  G2H1  G3H 2  G2G3H1H 2  G2G3H 3(G1  G
4  G 5)
Example 10
Apply rule Blocks in
2 Parallel

R(s G1 + G2 G3 +
) -
- - C(s
)

+
H1 H3

+
Example 10 cont….
Apply rule 10 Elimination of Feedback
Loop

R(s G1 + G2 1+G3
) -
- C(s
)

+
H1 H3

+
Example 10 cont….
Apply rule Move take off point after
3 block

R(s G1 + G2 1+G3
) - 1  G2
- C(s
)

+
H1 H3

+
Example 10 cont….
Apply rule Blocks in
1 series

R(s G1 + G2 1+G3
) - 1  G2
- C(s
)
1
1  G3

+
H1 H3
+
Example 10 cont….
Apply rule Blocks in
2 Parallel

R(s G1 + G2(1  G
) - 3) 1 
- C(s
G2
)
1
1  G3
+
H1 H3

+
Example 10 cont….
Apply rule Blocks in
1 Series

R(s G1 + G2(1  G
) - 3) 1 
- C(s
G2
)

H1 1
H2
 1
G3
Example 10 cont….
Apply rule Elimination of Feedback
10 loop

R(s G1 + G2(1  G
) - 3) 1 
- C(s
G2
)

H1(H 2  H 2 G 3 
1) 1  G3
Example 10 cont….

Apply rule Blocks in

1 series

R(s G1
G2(1  G 3)
) 1  G2  G2H1(1  H 2  H 2 G 3)
C(s
)
Example 10 cont….

R(s C(s
G1G2(1  G 3)
)
) 1  G2  G2H1(1  H 2  H 2 G 3)
Example 10 cont….

C(s) G1G2(1  G
R(s)  1  G2  3)
G2H1(1  H 2  H 2 G
3)
Thank
You