ĐIỀU KHIỂN TỰ ĐỘNG

Automatic Control
ECE 306
Nguyen Thi My Thanh
Room 320.B11 (13:00PM-14:00PM)
Phone: 0907 599 993
Email: [email protected]
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 Learning outcomes

CLO 1 Analyze continuous Linear Control Systems

CLO 2 Design of continuous linear control systems

CLO 3 Analyze discrete Linear Control Systems

CLO 4 Design of Discrete Linear Control Systems

CLO 5 Analyze and evaluate experimental results

CLO 6 Sense of discipline and respect for laboratory rules

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 Outline

Chapter 1 Repreparation of linear continuous-time systems

Chapter 2 Stability

Chapter 3 The performance of control systems

Chapter 4 Design of Automatic Control Systems

Chapter 5 Repreparation of Discrete-time Systems

Chapter 6 Design of Discrete-time Systems

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 Textbooks
1. Katsuhiko Ogata. (2015). Modern Control Engineering (Fifth Edition). Prentice Hall International
Editions

2. Golnaraghi, M. F., Kuo, Benjamin C. (2017). Automatic control systems (10th edition). Hoboken, NJ,
Wiley. ISBN: 9780470048962.

3. Phillips, Charles L.; Nagle, H. Troy (1998). Digital control system analysis and design (3rd edition).
Upper Saddle River, New Jersy, Person Education International Inc. ISBN: 9780133177299.

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 Assessment
❖ Midterm exam 30% >20% absence
❖ Final exam 40%
Exam
❖ Labs 25%
❖ Attendance 5%

Course Information: MOODLE

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 Chapter 1 Repreparation of linear continuous-time systems

1.1 Mathematical model of linear systems

1.2 Transfer function
1.3 Block diagram and Signal flow graph

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 1.1 Mathematical model of linear systems

➢A mathematical model of a dynamic system is defined as a set of equations

described in terms of differential equations.

➢Differential equations characterize the input-output relationships of systems.

➢Differential equations may be obtained using physical laws such as Newton’s

and Kirchhoff’s laws.
Differential equation of linear time-invariant system:

(y is the output, x is the input)

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 1.1 Mathematical model of linear systems
Example: DC motor
Ra: armature resistance La: armature inductance
i
u: terminal voltage ia: armature current
ꞷ: motor speed TL: load torque
B: viscous friction J: rotational inertia moment
u e
K: Electromotive force constant Փ : Magnetic flux
Te : torque coefficient Te= 𝐾Փ𝑖 e: back electromotive force e= 𝐾Փω

𝑑𝑖
Kirchhoff’s law: 𝑢 = 𝐿𝑎 + 𝑅𝑎 𝑖 + 𝐾Փω (1)
𝑑𝑡
𝑑ω 𝐽 𝑑ω 𝐵 1
Newton’s : 𝐾Փ𝑖 = 𝐽 + 𝐵ω + 𝑇𝐿 (2) ⇒ 𝑖 = + ω + 𝑇𝐿 (3)
𝑑𝑡 𝐾Փ 𝑑𝑡 𝐾Փ 𝐾Փ

𝐽 𝑑2 ω 𝐵 𝑑ω 1 𝑑𝑇𝐿 𝐽 𝑑ω 𝐵 1
(3) to (1) ⇒ 𝑢 = 𝐿𝑎 ( + + ) + 𝑅𝑎 + ω + 𝑇𝐿 + 𝐾Փω
𝐾Փ 𝑑𝑡 𝐾Փ 𝑑𝑡 𝐾Փ 𝑑𝑡 𝐾Փ 𝑑𝑡 𝐾Փ 𝐾Փ

𝐽𝐿𝑎 𝑑 2 𝜔 𝐵𝐿𝑎 𝐽𝑅𝑎 𝑑𝜔 𝐵𝑅𝑎 𝐿𝑎 𝑑𝑇𝐿 𝑅𝑎

⇒ด + + + + 𝐾Փ 𝜔 = 𝑢 −ด − ด 𝑇𝐿
𝐾Փ 𝑑𝑡 𝐾Փ 𝐾Փ 𝑑𝑡 𝐾Փ 𝐾Փ 𝑑𝑡 𝐾Փ
𝑎0 𝑎1 𝑎2 𝑏1 𝑏2
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 1.1 Mathematical model of linear systems
Example: DC motor
The differential equation of the DC motor:
𝒅𝟐 𝝎 𝒅𝝎 𝒅𝑻𝑳
𝑎0 + 𝑎1 + 𝑎2 𝝎 = 𝒖 − 𝑏1 − 𝑏2 𝑻𝑳
𝒅𝒕 𝒅𝒕 𝒅𝒕

▪ Linear system
▪ 2rd order system
▪ 𝑎0 , 𝑎1 , 𝑎2 , 𝑏1 , 𝑏2 : 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 => Time invariant

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 1.2 Transfer function
Laplace transform
➢Laplace transform is one of the mathematical tools for the solution of ordinary linear
differential equations.

Features:
▪ Laplace transform converts a differential equation into an algebraic equation in s which is
solved simply.

▪ The final solution is obtained by taking the inverse Laplace transform.

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 1.2 Transfer function
Laplace transform
Given the function x(t) with t ≥ 0, the Laplace transform of x(t) is

+∞
𝓛𝑥 𝑡 =𝑋 𝑠 =න 𝑥 𝑡 𝑒 −𝑠𝑡 𝑑𝑡
0

Where
𝓛: Laplace operator

s: Laplace variable

X(s) is the Laplace transform of x(t)

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 1.2 Transfer function
Properties of the Laplace transform

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 1.2 Transfer function
Laplace transform table

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 1.2 Transfer function
Laplace transform
u(t) Linear time y(t)
invariant system

Differential equations of Linear time invariant system:

Laplace transform (when all initial conditions are zero):

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 1.2 Transfer function
Transfer function
➢The transfer function of a system G(s) is the ratio of the output's Laplace transform to the
input's Laplace transform under the assumption that all initial conditions are zero.

u(t) y(t)
G(s)

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 1.2 Transfer function
Transfer function U(s) Y(s)
G(s)

Pole: roots of A(s)=0

Zero: roots of B(s)=0
System order: order of A(s)
Strictly proper system: order of A(s) > order of B(s)
Proper system: order of A(s) = order of B(s)

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 1.2 Transfer function
Example: a DC motor
i

u e

JLa d2 y BLa JR a dy BR a La dTL R a

Differential equation: +( + ) +( + KՓ)y = u − − T
ด dt
KՓ KՓ KՓ dt KՓ ด dt
KՓ ด L
KՓ
a0 a1 a2 b1 b2

Laplace transform: a0 s 2 𝑌(𝑠) + a1 𝑠𝑌(𝑠) + a2 𝑌(𝑠) = u − b1 sTL (s) − b2 TL (s)

1 −b1 s − b2
⇒𝑌 𝑠 = U s + T s
a0 s 2 + a1 𝑠 + a2 a0 s 2 + a1 𝑠 + a2 L
𝐺1(𝑠) 𝐺2(𝑠)

1 −b1 s − b2
Transfer function: 𝐺1 𝑠 = ; G2 s =
a0 s 2 + a1 𝑠 + a2 a0 s 2 + a1 𝑠 + a2
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 1.2 Transfer function
Example: a car

Differential equation:

Transfer function:

Or where

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 1.2 Transfer function
RLC circuits

𝑑𝑖(𝑡) 1 𝑡
𝓛 𝑖(𝑡)𝑅 𝓛 𝐿 𝓛 න 𝑖 𝜏 𝑑𝜏 + 𝑉0
𝑑𝑡 𝐶 0
= 𝑅𝐼(𝑠) = 𝐿[𝑠𝐼 𝑠 − 𝐼0 ] 𝐼(𝑠) 𝑉0
= +
𝑠𝐶 𝑠
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 1.2 Transfer function
Example: Find the transfer function of the circuit

𝑑𝑖 1 𝑡
Applying KCL: 𝑉𝑖 = 𝑅𝑖 + 𝐿 + න 𝑖 𝜏 𝑑𝜏
𝑑𝑡 𝐶 0
𝐼 𝑠
Laplace transform: 𝑉𝑖 = 𝑅𝐼 𝑠 + 𝐿𝑠𝐼 𝑠 + V𝑜, 𝑤ℎ𝑒𝑟𝑒 𝑉𝑜 =
𝑠𝐶

⇒ 𝑉𝑖 = 𝑅𝑠𝐶𝑉𝑜 + L𝑠𝑠𝐶𝑉𝑜 + 𝑉𝑜 = 𝑉𝑜 (sRC + 𝑠 2 𝐿𝐶 + 1)

𝑉𝑜 1
⇒𝐻 𝑠 = = 2
𝑉𝑖 𝑠 𝐿𝐶 + sRC + 1
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 1.2 Transfer function
Inverting amplifier
Ideal op amp: 𝑖+ = 𝑖− = 0

Applying KCL:

But 𝑣1 = 𝑣2 = 0 for an ideal op amp, hence:

𝑉𝑜 𝑅𝑓
⇒𝐻 𝑠 = =−
𝑉𝑖 𝑅1

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 1.2 Transfer function
Exercise: Determine the transfer functions of the circuits below:

a) b) c)

d) e) f) 22
 1.2 Transfer function
Impulse response

The output when the input is a unit impulse:

The output:

g(t) is called the weighting function of the system.

The impulse response is the inverse Laplace transform of the transfer function.
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 1.2 Transfer function
Step response

The output when the input is a unit step:

The output:

The step response is the integral of the impulse response. 24

 1.2 Transfer function
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Example 𝐺 𝑠 =
10𝑠 + 1

2
Impulse response: = 𝓛−1
1
10(𝑠 + )
10
2 −1𝑡
𝑦 𝑡 = 𝑒 10
10

2 2 20
Step response: = 𝓛−1 = 𝓛−1 (𝑠 − 10𝑠+1)
𝑠(10𝑠+1)
1
− 𝑡
𝑦 𝑡 = 2 − 2𝑒 10

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 1.2 Transfer function
2
Example 𝐺 𝑠 =
10𝑠 + 1

Matlab
>> sys = tf(2,[10 1])
>> impulse(sys)
>> step(sys)

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 1.2 Transfer function
3𝑠 + 6
Example 𝐺 𝑠 = 2
𝑠 + 2𝑠 + 5

Impulse response:
3𝑠+6 3𝑠+6 3 𝑠+1 +3
𝑦 𝑡 = 𝓛−1 𝐺 𝑠 = 𝓛−1 = 𝓛−1 = 𝓛−1
𝑠 2 +2𝑠+5 (𝑠+1)2 +22 (𝑠+1)2 +22

3 𝑠+1 3 𝑠+1 3 2
𝑦 𝑡 = 𝓛−1 + = 𝓛−1 3 +
(𝑠+1)2 +22 (𝑠+1)2 +22 (𝑠+1)2 +22 2 (𝑠+1)2 +22

3 −𝑡
y t = 3𝑒 −𝑡 c𝑜𝑠(2t) + 𝑒 sin(2t)
2

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 1.2 Transfer function
3𝑠 + 6
Example 𝐺 𝑠 = 2
𝑠 + 2𝑠 + 5

Step response:
𝐺 𝑠 3𝑠+6 𝐴 𝐵𝑠+𝐶 𝐴+𝐵 𝑠 2 + 2𝐴+𝐶 𝑠+5𝐴
𝑦 𝑡 = 𝓛−1 = 𝓛−1 = 𝓛−1 + = 𝓛−1
𝑠 𝑠(𝑠 2 +2𝑠+5) 𝑠 𝑠 2 +2𝑠+5 𝑠 2 +2𝑠+5

𝐴+𝐵 =0 𝐴 = 1.2
ቐ2𝐴 + 𝐶 = 3 ⇒ ൝ 𝐵 = −1.2
5𝐴 = 6 𝐶 = 0.6

1.2 −1.2𝑠+0.6 1.2 −1.2 𝑠+1 +1.2+0.6

𝑦 𝑡 = 𝓛−1 + 2 = 𝓛−1 +
𝑠 𝑠 +2𝑠+5 𝑠 (𝑠+1)2 +22

1.2 𝑠+1 1.8 2

𝑦 𝑡 = 𝓛−1 − 1.2 + .
𝑠 𝑠 + 1 2 + 22 2 𝑠 + 1 2 + 22
1.8 −𝑡
y t = 1.2 − 1.2𝑒 −𝑡 c𝑜𝑠(2t) + 𝑒 sin(2t) 28
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 1.2 Transfer function
100
Example 𝐺 𝑠 = 2
𝑠 + 10𝑠 + 100

Impulse response:

100 20 5 3
𝑦 𝑡 = 𝓛−1 𝐺 𝑠 = 𝓛−1 2
=𝓛−1 .
𝑠 + 10𝑠 + 100 3 (𝑠 + 5)2 +(5 3)2

20 −5𝑡
y t = 𝑒 sin(5 3t)
3

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 1.2 Transfer function
100
Example 𝐺 𝑠 = 2
𝑠 + 10𝑠 + 100

Step response:
𝐺 𝑠 100 𝐴 𝐵𝑠+𝐶
𝑦 𝑡 = 𝑔 𝑡 = 𝓛−1 = 𝓛−1 = 𝓛−1 +
𝑠 𝑠(𝑠 2 +10𝑠+100) 𝑠 𝑠 2 +10𝑠+100
𝐴+𝐵 =0 𝐴=1
ቐ10𝐴 + 𝐶 = 0 ⇒ ቐ 𝐵 = −1
100𝐴 = 100 𝐶 = −10
1
1 𝑠+10 1 𝑠+5+5 3
⇒ 𝑦 𝑡 = 𝓛−1 − 2 = 𝓛−1 = 𝓛−1 − 3
𝑠 𝑠 +10𝑠+100 𝑠 (𝑠+5)2 +(5 3)2

−1 1 𝑠+5 1 5 3
⇒𝑦 𝑡 = 𝓛 − 2 −
𝑠 (𝑠+5)2 + 5 3 3 (𝑠+5)2 +(5 3)2

−5𝑡 1 −5𝑡
⇒ 𝑦(𝑡) = 1 − 𝑒 cos 5 3𝑡 − 𝑒 sin 5 3𝑡 30
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 1.2 Transfer function
Exercise: Find the Transfer functions of the following systems

𝑑𝑦
a) + 2𝑦 = 5𝑢
𝑑𝑡

𝑑2 𝑦 𝑑𝑦 𝑑𝑢
b) +4 + 13𝑦 = 3 + 9𝑢
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

𝑑3 𝑦 𝑑2 𝑦 𝑑𝑦 𝑑𝑢
c) +3 2 +3 +𝑦 =6 + 5𝑢
𝑑𝑡 3 𝑑𝑡 𝑑𝑡 𝑑𝑡

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 1.2 Transfer function
Exercise: Find the impulse response and step response of the following systems:

6𝑠+8 6 6
d) 𝐺 𝑠 = e) 𝐺 𝑠 = f) 𝐺 𝑠 =
𝑠 2 +3𝑠+2 𝑠+2 (𝑠+2)2

g) 𝑦ሷ + 4𝑦ሶ + 5𝑦 = 6𝑢ሶ + 8𝑢
𝑌(𝑠)
Given the transfer function 𝐺 𝑠 =
𝑈(𝑠)

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 1.3 Block diagrams
➢A pictorial representation of the functions performed by each component and of
the flow of signals.

Summing point Functional block

Branch point

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 1.3 Block diagrams
Elements

𝑥2

𝑥1 + y
+
−

𝑥3

Y 𝑠 = 𝐺1 𝑠 𝑈 𝑠 Y 𝑠 = 𝑋1 𝑠 + 𝑋2 𝑠 − 𝑋3 𝑠

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 1.3 Block diagrams
Cascaded system Paralleled system Feedback system

≡
≡
R(s) C(s) R(s) C(s) R(s) C(s)
𝐺1 (𝑠)
𝐺1 (𝑠) 𝐺2 (𝑠) 𝐺1 (𝑠)+ 𝐺2 (𝑠)
1 + 𝐺1 (𝑠)𝐺2 (𝑠)

𝐶(𝑠) 𝐺1 (𝑠)
C 𝑠 = 𝐺1 𝑠 𝐺2 𝑠 𝑅 𝑠 C 𝑠 = (𝐺1 𝑠 +𝐺2 𝑠 )𝑅 𝑠 G 𝑠 = =
𝑅 𝑠 1+𝐺1 (𝑠)𝐺2 (𝑠)

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 1.3 Block diagrams
➢Moving a branch point

➢Moving a comparator

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 1.3 Block diagrams
➢Find the transfer function of the system described as the block diagram

𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠
B 𝑠 =𝐻 𝑠 𝐶 𝑠
C 𝑠 =𝐺 𝑠 𝐸 𝑠
=𝐺 𝑠 𝑅 𝑠 −𝐵 𝑠
=𝐺 𝑠 𝑅 𝑠 −𝐻 𝑠 𝐶 𝑠
⇒ C 𝑠 + 𝐺(𝑠) 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
=> C 𝑠 [1 + 𝐺 𝑠 𝐻 𝑠 ] = 𝐺 𝑠 𝑅 𝑠

𝐶(𝑠) 𝐺(𝑠)
Transfer function of the system: =
𝑅(𝑠) 1+𝐺 𝑠 𝐻 𝑠

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 1.3 Block diagrams
➢Find the transfer function of the system described as the block diagram

𝐸 𝑠 =𝑅 𝑠 +𝐵 𝑠
B 𝑠 =𝐻 𝑠 𝐶 𝑠 +
C 𝑠 =𝐺 𝑠 𝐸 𝑠
= 𝐺 𝑠 𝑅 𝑠 +𝐵 𝑠
=𝐺 𝑠 𝑅 𝑠 +𝐻 𝑠 𝐶 𝑠
⇒ C 𝑠 − 𝐺(𝑠) 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠
=> C 𝑠 [1 − 𝐺 𝑠 𝐻 𝑠 ] = 𝐺 𝑠 𝑅 𝑠

𝐶(𝑠) 𝐺(𝑠)
Transfer function of the system: =
𝑅(𝑠) 1−𝐺 𝑠 𝐻 𝑠

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 1.3 Block diagrams
➢Find the transfer function of the system described as the block diagram
Y 𝑠 =𝐺 𝑠 𝑈 𝑠
R(s) E(s) U(s) Y(s)
=G(s)K(s)E(s) +- K(s) G(s)

=G(s)K(s)[R(s)−W(s)]
W(s) Z(s) ++ V(s)
=G(s)K(s)[R(s)−F(s)Z(s)] F(s)
=G(s)K(s)[R(s)−F(s){Y(s)+V(s)}]
= G(s)K(s)R(s)−G(s)K(s)F(s)Y(s)- G(s)K(s)F(s)V(s)
⇒ Y(s)[1+G(s)K(s)F(s)] = G(s)K(s)R(s)−G(s)K(s)F(s)V(s)

G(s)K(s) −G(s)K(s)F(s)
⇒𝑌 𝑠 = R(s) + V(s)
1+G(s)K(s)F(s) 1+G(s)K(s)F(s)
𝐻1 (s) 𝐻2 (s)
𝐻1 (s): Transfer function from R(s) to Y(s)
⇒ Y 𝑠 = 𝐻1 (s)𝑅 𝑠 + 𝐻2 (s)𝑉 𝑠
𝐻2 (s): Transfer function from V(s) to Y(s)
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 1.3 Block diagrams
Example

R(s) 𝐺4 𝑠 + 𝐺1 𝑠 𝐺2 𝑠 Y(s)
1 + 𝐺2 (𝑠)𝐺3 (𝑠)

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 1.3 Block diagrams
Example: Find the transfer function of the following system

41
 1.3 Block diagrams
Example: Simplify this diagram

42
 1.3 Block diagrams
Example: Simplify this diagram

43
 1.3 Block diagrams
Example: Simplify this diagram

44
 1.3 Block diagrams
Exercise: Find the transfer function of the systems

a)

b)

45
 1.3 Block diagrams
Exercise: Find the transfer function of the systems

c) d)

46
 1.3 Signal flow graph

➢Signal flow graph is a graphical representation of algebraic equations of consisting

nodes and branches.

Mixed node Output node

Input node

𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠
Forward path C 𝑠 =𝐺 𝑠 𝐸 𝑠
Loop
𝐶(𝑠) 𝐺(𝑠)
=
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻 𝑠
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 1.3 Signal flow graph
❖Nodes represent variables.
▪ Input Node (source) − It is a node with only outgoing branches.
▪ Output Node (sink) − It is a node with only incoming branches.
▪ Mixed Node − It is a node with both incoming and outgoing branches.

❖Path is a continuous set of branches traversed in the direction indicated by the branch arrows.

❖Forward path is a path from an input node to an output node that does not revisit any node.

❖Path gain is the product of the gains of all the branches in the path.

❖Loop is a closed path.

❖Branches are line segments that joins two nodes. Signals travel along branches only in the
direction described by the arrows of the branches.

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 1.3 Signal flow graph
Example: Find the Signal flow graph of the following system
𝐺4 (𝑠) 𝐺4 (𝑠)

𝐺1 (𝑠) 𝐺2 (𝑠) 1
R(s) R(s) x
+ Y(s)
𝐺1 (𝑠) + 𝐺2 (𝑠) + v
−

𝐺3 (𝑠) −𝐺3 (𝑠)

𝑋 𝑠 = 𝐺1 𝑠 𝑅 𝑠 − 𝐺3 𝑠 Y s
𝑌 𝑠 = 𝑉 𝑠 = 𝐺4 𝑠 𝑅 𝑠 + 𝐺2 𝑠 X s
𝑌 𝑠 = 𝐺4 𝑠 R s + 𝐺2 𝑠 𝐺1 𝑠 𝑅 𝑠 − 𝐺2 𝑠 𝐺2 𝑠 𝑌 𝑠
1 + 𝐺2 𝑠 𝐺2 𝑠 𝑌 𝑠 = (𝐺4 𝑠 + 𝐺1 𝑠 𝐺2 𝑠 )𝑅 𝑠

𝑌(𝑠) 𝐺4 𝑠 + 𝐺1 𝑠 𝐺2 𝑠
⇒ =
𝑅(𝑠) 1+𝐺2 𝑠 𝐺2 𝑠

49
 1.3 Signal flow graph
➢ Mason’s formula for signal flow graphs
➢ Gain between input node u and output node y: Y(s) = G(s)U(s)

1
𝐺 𝑠 = ෍ 𝑇𝑖 ∆𝑖
∆
▪ 𝑇𝑖 : gain of the ith forward path
▪ ∆𝑖 : the determinant for the part of the signal flow graph which is nontouching with the ith
forward path
▪ ∆: determinant of the graph

σ 𝐿𝑖 : sum of all individual loop gains.

σ 𝐿𝑖 𝐿𝑗 :sum of the gain products of all possible combinations of two nontouching loops

σ 𝐿𝑖 𝐿𝑗 𝐿𝑘 : sum of the gain products of all possible combinations of three nontouching loops
50
 1.3 Signal flow graph
Example
𝐺4 (𝑠) • 𝑇1 = 𝐺4 => ∆1 = 1

𝐺1 (𝑠) 𝐺2 (𝑠) 1 Y(s)

R(s) x
v

−𝐺3 (𝑠)

• 𝑇2 = 𝐺1 𝐺2 => ∆2 = 1
Path from input to output: 𝑇1 = 𝐺4
𝑇2 = 𝐺1 𝐺2
Loop: 𝐿1 = −𝐺2 𝐺3
Determinant: ∆= 1 − 𝐿1 = 1 +𝐺2 𝐺3

𝑇1 ∆1 + 𝑇2 ∆2 𝐺4 + 𝐺1 𝐺2
⇒𝐺 𝑠 = =
∆ 1 +𝐺2 𝐺3
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 1.3 Signal flow graph
Example: find the transfer function of the system below

52
 1.3 Signal flow graph
Solution 𝐺2

r 𝐺4 𝑥 1 y
1 𝑛 𝑢 𝐺1 𝑣 1
−𝐺3

−𝐺5
𝑋 = 𝐺1 U
N= 𝑅 − 𝐺5 Y
𝑋 = 𝐺1 𝐺4 𝑁 − 𝐺3 𝑋
𝑋 = 𝐺1 𝐺4 𝑅 − 𝐺1 𝐺4 𝐺5 Y − 𝐺1 𝐺3 X
𝐺1 𝐺4 𝑅 − 𝐺1 𝐺4 𝐺5 Y
𝑋=
1 + 𝐺1 𝐺3
𝑌 = 𝑉 = 𝐺2 N + X
𝑌 = 𝑉 = 𝐺2 N + X = 𝐺2 (𝑅 − 𝐺5 Y) + 𝐺1 𝐺4 𝑁 − 𝐺3 𝑋
𝑌 = 𝐺2 (𝑅 − 𝐺5 Y) + 𝐺1 𝐺4 (𝑅 − 𝐺5 Y ) − 𝐺3 𝑋
𝑌 = 𝐺2 𝑅 − 𝐺2 𝐺5 Y + 𝐺1 𝐺4 𝑅 − 𝐺1 𝐺4 𝐺5 Y − 𝐺1 𝐺3 𝑋 𝐺1 𝐺3 𝐺1 𝐺4
𝐺1 𝐺3 𝐺1 𝐺4 𝑌 𝐺2 + 𝐺 𝐺
1 4 − 1 + 𝐺1 𝐺3
1 + 𝐺2 𝐺5 + 2𝐺1 𝐺4 𝐺5 𝑌 = 𝐺2 + 𝐺1 𝐺4 − 𝑅 =≫ = 53
1 + 𝐺1 𝐺3 𝑅 1 + 𝐺2 𝐺5 + 2𝐺1 𝐺4 𝐺5
 1.3 Signal flow graph
Solution:
Forward path: Loop:
𝑇1 = 𝐺4 𝐺1 𝐿1 = −𝐺1 𝐺3
𝑇2 = 𝐺2 𝐿2 = −𝐺1 𝐺4 𝐺5
𝐿3 = −𝐺2 𝐺5

Determinant of the graph

∆= 1 − (𝐿1 + 𝐿2 + 𝐿2 )+ 𝐿1 𝐿3
∆1 = 1 −𝐺2 𝐺5
∆2 = 1
Transfer function:
𝑌(𝑠) 1
𝐺 𝑠 = = (𝑇1 ∆1 + 𝑇2 ∆2 )
𝑅(𝑠)∆
𝐺4 𝐺1 + 𝐺2
𝐺 𝑠 =
1 − (𝐿1 + 𝐿2 + 𝐿2 )+ 𝐿1 𝐿3

𝐺1 𝐺3 𝐺1 𝐺4
𝑌 𝐺2 + 𝐺 𝐺
1 4 − 1 + 𝐺1 𝐺3
=≫ = 54
𝑅 1 + 𝐺2 𝐺5 + 2𝐺1 𝐺4 𝐺5
 1.3 Signal flow graph
Exercise: Find the graph of the block diagram

55
Complex number

z=x+yi
x and y are real numbers
x : real part
y : imaginary part
i : imaginary unit

𝑧 = 𝑟𝑒 𝑖𝜑 = 𝑟(𝑐𝑜𝑠𝜑 + 𝑖𝑠𝑖𝑛𝜑)

𝑟= 𝑧 = 𝑥2 + 𝑦2 In angle notation,

𝜑 = 𝑎𝑟𝑔 𝑧 = 𝑎𝑡𝑎𝑛2(𝐼𝑚 𝑧 , 𝑅𝑒 𝑧 )
𝑦 −1
𝑦 r : absolute value of z(or modulus or magnitude)
𝜑 = arctan = 𝑡𝑎𝑛 ( ) 𝜑 : argument of z (or phase)
𝑥 𝑥
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Unit circle

57