CONTROL SYSTEMS III (MCS32A)

REDUCTION RULES OF BLOCK DIAGRAMS OF CONTROL SYSTEMS

(NS. Nise, Chapter 5: Reduction of Multiple subsystems, 6th ed. Page 235)

LECTURER: MR. JOSEPH NSENGIMANA

OFFICE: BHP 167
Email: [email protected]
Telephone: 051-507-3894

Bloemfontein 2023
 BLOCK DIAGRAM REPRESENTATION OF CONTROL SYSTEMS
A control system consists of several components interconnected to perform a desired function. Once a component
(system or subsystem) is reduced to a mathematical model, it can be represented by a block with the component
operation described by the mathematical function. It is convenient and useful to represent the elements of a control
system by blocks, interconnected together to make a BLOCK DIAGRAM. In a block diagram representation, every
component (or subsystem) is represented as a RECTANGULAR BLOCK containing ONE INPUT AND ONE
OUTPUT. All blocks are interconnected by arrows representing the signal flow path.

A block diagram is a pictorial

representation of an entire
control system in terms of all
the ELEMENTS AND THEIR
TRANSFER FUNCTIONS.
Generic representation of a control system
 OPEN-LOOP AND CLOSED-LOOP CONTROL SYSTEMS
• There are two control system configurations: Open-loop control system and closed-loop control system.

• An open-loop control system does not monitor or correct the output for disturbances, whereas a closed loop control
systems monitors the output and compares it with the input through a feedback system. A general block diagram of an open
loop system is shown.

Open-loop control system

OPEN-LOOP AND CLOSED-LOOP CONTROL SYSTEMS

Feedback is the property of a closed -loop control system, which allows the
output to be compared with input to the system such that appropriate control
action may be performed to reduce or to completely, eliminate errors in the
system.

Closed -loop control system

 Advantages of the feedback

The presence of the feedback impacts to the system in the following:

1. Increased accuracy: its ability to produce the input accurately
2. Reduces the sensitivity of the ratio output to input for variations in system characteristics and other parameters
3. Reduces the effect of nonlinearities and distortion
4. Increases the bandwidth i.e the range of input frequencies that the system will respond satisfactory
5. Reduces the effects of external disturbances or noises
 BLOCK DIAGRAM REDUCTION RULES
A control system can be made by several subsystems connected through a several number of transfer functions. In
order to study the dynamic characteristics (stability, time response, and overall performances) of the entire control
system, it is necessary to reduce the block diagram to a single input and a single output connected with one overall
transfer function.

1. Two or more blocks are connected in cascade (or in series)

1 (s)
X= X ( s ) × G1 ( s )

X 2 ( s ) = X 1 ( s ) × G2 ( s ) = X ( s ) × G1 ( s ) × G2 ( s )

Blocks in series
When blocks (transfer functions) are Y ( s ) = X 2 ( s ) × G3 ( s ) = X ( s ) × G1 ( s ) × G2 ( s ) × G3 ( s )
connected in series, their overall (or
equivalent) transfer function is found The overall transfer function of the system is
by multiplying them.
Y (s)
n
T (s) = = G1 ( s ) × G2 ( s ) × G3 ( s )
T (=
s ) G1 ( s ) × G2 ( s ) × G3 ( s ) × ... × Gn (=
s) ∏G (s)
i =1
i X (s)
 2. Transfer function of a Closed-loop system
The generic representation of a The feedback can be negative or positive.
Closed-loop control system or a
feedback control system is the Transfer function of a closed-loop control system with a
following: negative feedback

The error E(s)in the system is

E (s) = R (s) − C (s)× H (s)
(1)

On the other hand, the output signal is

(s) E (s)×G (s)

C= (2)

Substituting (1) into (2)

C ( s ) =  R ( s ) − C ( s ) × H ( s )  G ( s )
The generic (canonical) representation (form) of a closed-loop
control system C (s) = R (s)×G (s) − C (s)× H (s)×G (s)
 Transfer function of a closed-loop control system with a negative feedback

C (s) + C (s)× H (s)×G (s) = R (s)×G (s)

Finally, the equivalent transfer function of the system is

C (s) G (s)
(s) =
T= (3)
R (s) 1+ G (s)× H (s)
The system can be represented with
a single transfer function known as
Closed loop transfer function.

Equivalent system of a closed loop control system with a negative feedback

 Transfer function of a closed-loop control system with a positive feedback

• The error in the system

E (s) = R (s) + C (s)× H (s) (4)
On the other hand, the output signal is
C= (s) E (s)×G (s) (5)
Substituting (4) into (5)
C ( s ) =  R ( s ) + C ( s ) × H ( s )  G ( s )

C (s) = R (s)×G (s) + C (s)× H (s)×G (s)

C (s) − C (s)× H (s)×G (s) = R (s)×G (s)
C ( s ) 1 − G ( s ) × H ( s )  = R ( s ) × G ( s )
Finally, the equivalent transfer function is
C (s) G (s)
(s) =
T=
The equivalent transfer function for a closed loop control R (s) 1− G (s)× H (s)
system with a positive feedback
 Equivalent transfer function of blocks (Transfer functions)
connected in parallel with positive/negative summing point

The output signal Y(s) is

Y ( s ) X 1 ( s ) − G2 ( s ) X ( s )
= (6)
X 1 ( s ) = G1 ( s ) X ( s ) (7)
Substituting (7) into (6)
Y ( s ) G1 ( s ) X ( s ) − G2 ( s ) X ( s )
=

Y (s)
= (G ( s ) − G ( s )) X ( s )
1 2

The equivalent transfer function is

Y (s)
(s)
T= = G1 ( s ) − G2 ( s )
X (s)
Equivalent transfer function for blocks in parallel with (8)
positive/negative summing point
 Equivalent transfer function of blocks (Transfer functions) connected in parallel with
positive/positive summing point

The output signal is

Y ( s ) X 1 ( s ) + G2 ( s ) X ( s )
= (9)
On the other hand
X 1 ( s ) = G1 ( s ) X ( s ) (10)
Substituting (10) into (9)
Y ( s ) G1 ( s ) X ( s ) + G2 ( s ) X ( s )
=
Y (s)
= (G ( s ) + G ( s )) X ( s )
1 2

Finally, the equivalent transfer function

Y (s)
(s)
T= = G1 ( s ) + G2 ( s )
X (s) (11)
In general, the equivalent Transfer function for
blocks in parallel is the algebraic sum of the block
transfer functions
Equivalent system for parallel blocks with positive/positive n

summing point T (=
s ) G1 ( s ) + G2 ( s ) + G3 ( s ) + ... + Gn (=
s) ∑G (s)
i =1
i
 Solution
Application
First alternative
The below figure shows a feedback control system.
Combining parallel blocks
1 s +1
+1 =
s s

C (s)
Find the transfer function T (s) = 10 10
R (s) =T (s) = s + 2s 2 2
s + 2s
10 s + 1 s ( s 2 + 2 s ) + 10 s + 10
1+ 2 ×
s + 2s s
(
s s 2 + 2s )
10 s ( s 2 + 2s ) 10 s
T (s) =2
× 3 2
= 3 2
s + 2 s s + 2 s + 10 s + 10 s + 2 s + 10 s + 10
 Application
10 s
T1 ( s ) =
s 3 + 2 s 2 + 10

Second alternative 10 s 10 s
2 3
=T (s) =s + 2 s + 10 s + 2 s 2 + 10
3

Equivalent of the system with internal feedback 1+ 3

10 s s 3 + 2 s 2 + 10 + 10 s
s + 2 s 2 + 10 s 3 + 2 s 2 + 10
10 10
=T1 ( s ) = s 2 + 2s s 2 + 2s
10 1 s ( s 2 + 2 s ) + 10 =T (s)
10 s
×
s 3 + 2 s 2 + 10
1+ 2 × s 3 + 2 s 2 + 10 s 3 + 2 s 2 + 10 + 10 s
s + 2s s s ( s 2 + 2s )

10 s ( s 2 + 2s ) T (s) =
10 s
T1 ( s )
3 2
= × s + 2 s + 10 s + 10
s 2 + 2 s s ( s 2 + 2 s ) + 10
 Self-assessment (Homework)
The below figure shows a feedback control system with internal feedback.

C (s)
Using the reduction rules, find the transfer function T (s) =
R (s)
Moving block to create Familiar forms
Familiar forms refer to cascade (series), parallel and feedback. These
forms are not always apparent in a block diagram.
Pickoff (take off) point: In order to have the same signal or variable be
an input to more than one block or summing point, a takeoff (or
pickoff) point is used.
The takeoff point can be present:
1. Between two blocks which prevent the two blocks to be in cascade
2. Just after the summing point and this will prevent the use of the
feedback formula.
Moving a take off point to the right (beyond) or in the direction of signal
flow of the block
 Moving a take off point beyond the block
1. The take off point P is moved to the right of the block G1(s)

2. The signals X1(s) and Y1(s) should not change in values when the take-off
point is moved to the right of the block

3. Moving a take-off point from 1 to 2 is equal to multiply the signal X1(s) by

G1(s)

4. Therefore, to compensate for this change, divide the take-off signal by

G1(s) after moving take-off point

5. To shift the take-off point to the right of the block G1(s), divide the take-off
branch by G1(s).
Moving a take-off point to the left or in the direction of opposite signal flow
Problem 2.14
𝐶𝐶(𝑠𝑠)
Find the transfer function 𝑇𝑇 𝑠𝑠 =
𝑅𝑅(𝑠𝑠)
Problem 2.15
𝐶𝐶(𝑠𝑠)
Find the transfer function 𝑇𝑇 𝑠𝑠 =
𝑅𝑅(𝑠𝑠)
 𝑋𝑋(𝑠𝑠)
Find the transfer function 𝑇𝑇 𝑠𝑠 =
𝐸𝐸(𝑠𝑠)

Answer