EE382

EE 382 : Feedback Systems Analysis

and Design

Ch.5 Reduction of Multiple Subsystems

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First, we should define the Transfer Function.
TRANSFER FUNCTION
ABET SO [a] - PI1 : An ability to
identify the required mathematics

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 Transfer Function
Input Output
G(s) = ?
r (t ) c(t )

Example :
Find the transfer function represented by the 1st ODE

d 2 c(t ) dc(t ) dr (t )
5 2
4  3c(t )  2  r (t )
dt dt dt
Assuming zero initial conditions, we find the transfer function
C s  2s  1
 G (s)   2
Rs  5s  4 s  3
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IMPULSE RESPONSE FUNCTION
Convolution Integral
Question: How can we calculate the output of the Linear Time-Invariant
control system’s output?

Answer:

Time Domain Laplace Domain

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 IMPULSE RESPONSE FUNCTION

Time Domain Laplace Domain

Input: x(t )   t  X (s)  1

Output: Y ( s)  G (s) X ( s)  G (s)

: impulse-response function

where G ( s ) is transfer fuction of the industrial system. 6

BLOCK DIAGRAMS
Figure 2-2 Summing point.

Figure 2-3 Block diagram of a closed-loop system.

ABET SO [a] – PI3 : to demonstrate

proper use of engineering principles to
obtain output given a certain input.
 Interconnection Types
Cascaded Form:

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 Block Diagrams
New elements to Block Diagrams:
• Summing Junctions
• Pickoff points

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 Interconnection Types
Parallel Form:

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 Interconnection Types
Feedback Form:

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 Moving Blocks Examples
Example 5.1 (p.242-243)
Reduce the following block diagram to a single transfer function

Solution:

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Open-Loop T.F and Feedforward T.F.
 Closed-Loop Transfer Function

ABET SO [a] – PI3 : to demonstrate

proper use of engineering principles to
obtain output given a certain input.
SUMMARY:
(a) Cascaded system; (b) parallel system; (c) feedback (closed-loop) system
 Block diagram reduction

Rule 1)

X C X C
G1 G1

1
X G1

X
 Block diagram reduction
Rule 2)

X C
X C G1
G1 +
+ +
+
1
Y G1

Y
C  XG1  Y
Reduction techniques

1. Combining blocks in cascade (series)

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2

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Reduction techniques

3. Moving a summing point ahead a block

G G
G

4. Moving a summing point behind of a block

G G
1
G

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 5. Moving a take-off point ahead a block

G G
1
G

6. Moving a take-off point behind of a block

G G
G

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7. Eliminating a feedback loop

G
G
1  GH
H

G
G
1 G

H 1

8. Swap with two neighboring summing points

A B B A

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 Example-4: Reduce the Block Diagram to Canonical Form.

• Combine all cascade block using rule-1

• Combine all parallel block using rule-2

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Example-4: Reduce the Block Diagram to Canonical Form.

𝐺2 + 𝐺3
𝐺1 𝐺4

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 Example-4: Continue.
• Eliminate all minor feedback loops using rule-7

• After the elimination of minor feedback loop the block diagram is reduced to as shown below

• Again blocks are in cascade are removed using rule-1

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EXAMPLE 6 ABET SO [a] – PI3 : to demonstrate
proper use of engineering principles to
obtain output given a certain input.
Example-6
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

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Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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Example-6
H2
G1
R _ C
G1G2
+_ + G3
1  G1G2 H1

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Example-6
H2
G1
R _ C
G1G2G3
+_ +
1  G1G2 H1

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Example-6

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

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 CONTROLLERS

Block diagram of a control system, which consists of a controller,

an actuator, a plant, and a sensor (measuring element).

ABET SO [a] – PI2 : to convert real

world situation into an appropriate
model.
Classifications of Controllers
1. Two-position or on–off controllers
2. Proportional controllers
3. Integral controllers
4. Proportional-plus-integral controllers
5. Proportional-plus-derivative controllers
6. Proportional-plus-integral-plus-derivative controllers
 Two-position or on–off controllers

Figure 2-7 (a) Block diagram of an on–off controller;

(b) block diagram of an on–off controller with differential gap.
Figure 2-8 (a) Liquid-level control system;
(b) electromagnetic valve.
P I D controllers
 P I D controllers

Figure 2-10 Block diagram of a PID (Proportional-plus-Integral-

plus-Derivative) controller.