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Lecture 2

This document discusses signal-flow graph models for representing control systems. It defines the basic elements of signal-flow graphs as branches, nodes, paths, and loops. An example shows how a set of simultaneous equations can be represented as a signal-flow graph. Mason's gain is introduced as a method to determine the transfer function of an interacting system from its signal-flow graph model. Finally, the document outlines how MATLAB can be used to model and analyze control systems, including implementing differential equations, transferring functions, pole-zero maps, connecting systems, and obtaining step responses.

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9 views24 pages

Lecture 2

This document discusses signal-flow graph models for representing control systems. It defines the basic elements of signal-flow graphs as branches, nodes, paths, and loops. An example shows how a set of simultaneous equations can be represented as a signal-flow graph. Mason's gain is introduced as a method to determine the transfer function of an interacting system from its signal-flow graph model. Finally, the document outlines how MATLAB can be used to model and analyze control systems, including implementing differential equations, transferring functions, pole-zero maps, connecting systems, and obtaining step responses.

Uploaded by

iptraders
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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CONTROL THEORY

Open and Closed Loop Control System


Modelling – part 2

Dr. Kapila Palitharathna


Ph.D. (University of Peradeniya)
B.Sc. Eng. (University of Peradeniya)
[email protected]
Signal-flow graphs
Signal-flow graph Models

• Block diagrams are adequate for the representation of the interrelationships


of controlled and input variables.

• An alternative method for determining the relationship between system


variables has been developed by Mason and is based on a representation of
the system by line segments.

• This line segment based method is called the signal-flow graph method.

• A signal-flow graph is a diagram consisting of nodes that are connected by


several directed branches and is a graphical representation of a set of linear
relations.
Signal-flow graph Models
• Branch – The basic element of a signal-flow graph. A unidirectional path segment which is
equal to a block of a block.
• Node – The input and output points or junctions are called nodes.
• Path – a branch or a continuous sequence of branches that can be traversed from one
node to another node.
• Loop – A closed path that originates and terminates on the same node.
• Non-touching loop – If two loops don’t have a common node.
Signal-flow graph Models
• Example
• Consider the following set of simultaneous algebraic equations:

• They can be written as:

• By solving above equations following equations can be obtained

• The denominator of above equations can be written as


Signal-flow graph Models

• This denominator is equal to the 1 minus self-loop, a11, a22, and a12a21, plus the product of
two non-touching loops a11 and a22.

• The numerator for x1 with the input r1 is 1 times 1 - a22, which is the value of ∆ excluding
terms that touch the path 1 from r1 to x1.

• The numerator from r2 to x1 is simply a12 because the path through a12 touches all the
loops.

• The numerator for x2 is symmetrical to that of x1.


Mason’s gain
Masons Gain
Masons Gain
• Example – Transfer function of an interacting system
Masons Gain
• Example – Transfer function of an interacting system
Masons Gain
• Example – Transfer function of an interacting system
Masons Gain
• Example – Transfer function of a complex system
MATLAB for implementing control
systems
MATLAB for control system modeling
• The governing differential equation of spring mass system can be written as

• The unforced dynamic response y(t) of the spring-mass-damper mechanical system is

• As an example, the initial conditions can be chosen as


MATLAB for control system modeling
• MATLAB code for the response of the spring mass system.
MATLAB for control system modeling
• MATLAB code for multiply and evaluate polynomials
MATLAB for control system modeling
• MATLAB code for adding transfer functions
MATLAB for control system modeling
• MATLAB code for pole zero map
MATLAB for control system modeling
• MATLAB code for connecting systems
1. Series connection
MATLAB for control system modeling
• MATLAB code for connecting systems
2. Parallel connection 3. Unity feedback system
MATLAB for control system modeling
• MATLAB code for connecting systems
4. Feedback connection
MATLAB for control system modeling
• MATLAB code for multi-loop reduction
MATLAB for control system modeling
• MATLAB code for canceling common factors
MATLAB for control system modeling
• MATLAB code for step response

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