Lecture 5:

Block Diagrams and

Steady State Errors
Today’s Lecture
Block diagrams to represent control systems
Block diagram manipulation
Example
Steady State Errors
Block Diagrams
Block Diagrams provide a pictorial representation of a
system
Unidirectional operational block representing individual
transfer functions
Three basic elements:
Rectangles – operators
Lines – signals
Circle – additional or subtraction
Block Diagrams: Examples
y = Ax
x y
A
e= r - c
r + e

- c
Block Diagrams: Examples
y = Ax-Bz

x + y
A
- z
B
Closed Loop System
Simple Closed Loop Control System
input + error output
Process
- feedback
Sensor

R(s) + E(s)
G(s)
C(s)

- B(s)
H(s)
Closed Loop System
Simple Closed Loop Control System
R(s) + E(s) G(s)
C(s)

- B(s)
H(s)
Transfer function from R(s) to C(s)
𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠
𝐶 𝑠
𝐵 𝑠 =𝐻 𝑠 𝐶 𝑠 𝐶 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝐶 𝑠
𝐸 𝑠 = 𝐺 𝑠
𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠 𝐺 𝑠
Closed Loop System
Simple Closed Loop Control System
R(s) + E(s) G(s)
C(s)

- B(s)
H(s)
Transfer function from R(s) to C(s)
𝐶 𝑠 1
=𝑅 𝑠 −𝐻 𝑠 𝐶 𝑠 𝐶 𝑠 +𝐻 𝑠 =𝑅 𝑠
𝐺 𝑠 𝐺 𝑠
𝐶 𝑠 𝐺 𝑠
=
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠
Closed Loop System
Simple Closed Loop Control System
R(s) + E(s) G(s)
C(s)

- B(s)
H(s)
Transfer function from R(s) to C(s)
𝐶 𝑠 𝐺 𝑠 R(s) 𝑮 𝒔 C(s)
= 𝟏+𝑮 𝒔 𝑯 𝒔
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠
Closed Loop System
Simple Closed Loop Control System
R(s) + E(s) G(s)
C(s)

- B(s)
H(s)
With unity feedback, H(s)=1
𝐶 𝑠 𝐺 𝑠 𝐺 𝑠
= →
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 1+𝐺 𝑠
Open Loop Transfer Function
Remove the feedback link from summing junction
R(s) + E(s) G(s)
C(s)

- B(s)
H(s)
𝐸 𝑠 =𝑅 𝑠
Open Loop Transfer Function given by
𝐵 𝑠
=𝐺 𝑠 𝐻 𝑠
𝐸 𝑠
Block Diagram Manipulation
Diagrams can be manipulated using the following
transformations
Combining Blocks in Series:
x1 x3
G1(s)G2(s)
x1 x2 x3
G1(s) G2(s)
x1 x3
G2(s)G1(s)
Block Diagram Manipulation
Moving a summing junction

x1 + x3 x1 + x3
G(s) G(s)
± x2 ± x2
G(s)
Block Diagram Manipulation
Moving a pickoff point ahead of a block

x1 x3 x1 x3
G(s) G(s)

x2 x2
G(s)
Block Diagram Manipulation
Moving a pickoff point behind a block

x1 x3 x1 x3
G(s) G(s)
x2
x2
1/G(s)
Block Diagram Manipulation
Moving a summing point ahead of a block

x1 + x3 x1 + x3
G(s) G(s)
± ± x2
1/G(s)
x2
 Block Diagram Manipulation
Eliminating a feedback loop

R(s) + E(s) C(s) R(s) 𝑮 𝒔 C(s)

G(s)
𝟏∓𝑮 𝒔 𝑯 𝒔
± B(s)
H(s)
Example
R E A B J D C
G1 G2 G3

C K H
H1
H2
1
𝐶 𝑠 𝐺3
= = 𝐺4
𝐽 𝑠 1 + 𝐺3𝐻1
Example
R E A B J C
G1 G2 G4

C K

H2
1
𝐶 𝑠
= 𝐺2𝐺4 = 𝐺5
𝐵 𝑠
Example
R E A B C
G1 G5

C K

H2
1
𝐶 𝑠 𝐺5
= = 𝐺6
𝐴 𝑠 1 + 𝐺5𝐻2
Example: Final Closed Loop TF
R E A C
G1 G6

C
𝐶 𝑠 𝐺1𝐺6
=
𝐴 𝑠 1 + 𝐺1𝐺6
1
𝐺1𝐺2𝐺3
=
1 + 𝐺3 𝐻1 + 𝐺2𝐻2 + 𝐺1𝐺2𝐺3
Steady State Errors
Feedback control used to reduce steady-state errors
Steady-state error is error after the transient response has
decayed
If error is unacceptable, the control system will need
modification
Errors are evaluated using standardized inputs
Step inputs
Ramp inputs
Sinusoidal inputs
Example – No SS Error
Example – With SS Error
Causes of Steady State Error
Errors can be caused by factors including
1. Instrumentation of measurement errors
2. System non-linearities – deadbands, hysteresis, saturation
etc.
3. Form of input signal
4. Form of system transfer function
5. External disturbances acting on the system, for example:
forces or torques
Error Function
R(s) + E(s)
G(s)
C(s)

- B(s)
H(s)
𝐸 𝑠 =𝑅 𝑠 −𝐵 𝑠 𝐸 𝑠 1+𝐻 𝑠 𝐺 𝑠 =𝑅 𝑠
𝐵 𝑠 =𝐻 𝑠 𝐺 𝑠 𝐸 𝑠
𝐸 𝑠 1
𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝐺 𝑠 𝐸 𝑠 =
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠
𝐸 𝑠 +𝐻 𝑠 𝐺 𝑠 𝐸 𝑠 =𝑅 𝑠
Calculating Value System dependent

𝐸 𝑠 1 1
= →𝐸 𝑠 = ×𝑅 𝑠
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 1+𝐺 𝑠 𝐻 𝑠
Input dependent
Use the final value theorem:
𝐸𝑠𝑠 = lim 𝐸 𝑡 = lim 𝑠𝐸 𝑠
𝑡→∞ 𝑠→0
Inputs can be 𝐴 A is step amplitude
Step 𝑅 𝑠 =
𝑠
𝐴 A is step velocity
Ramp 𝑅 𝑠 = 2
𝑠
Example
System and Feedback Transfer functions:
1
𝐺 𝑠 = and 𝐻 𝑠 = 1
𝑠 1 + 𝜏𝑠

Error
𝐸 𝑠 1 1 𝑠 1 + 𝜏𝑠
= = =
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 1 𝑠 1 + 𝜏𝑠 + 1
1+
𝑠 1 + 𝜏𝑠
Example
Step input
𝐸 𝑠 𝑠 1 + 𝜏𝑠 𝐴 𝑠 1 + 𝜏𝑠
= → 𝐸 𝑠 =
𝑅 𝑠 𝑠 1 + 𝜏𝑠 + 1 𝑠 𝑠 1 + 𝜏𝑠 + 1

Steady State Error:

𝐴 𝑠 1 + 𝜏𝑠 0 1 + 𝜏0 𝐴
𝐸𝑠𝑠 = lim 𝑠𝐸 𝑠 = 𝑠 = =0
𝑠→0 𝑠 𝑠 1 + 𝜏𝑠 + 1 0 1 + 𝜏0 + 1
Example
As 𝐸𝑠𝑠 = 0 and
𝐻 𝑠 = 1, steady
state output will be
same as input
Example
Ramp input
𝐸 𝑠 𝑠 1 + 𝜏𝑠 𝐴 𝑠 1 + 𝜏𝑠
= → 𝐸 𝑠 = 2
𝑅 𝑠 𝑠 1 + 𝜏𝑠 + 1 𝑠 𝑠 1 + 𝜏𝑠 + 1

Steady State Error:

𝐴 𝑠 1 + 𝜏𝑠 1 + 𝜏0 𝐴
𝐸𝑠𝑠 = lim 𝑠𝐸 𝑠 = 𝑠 2 = =𝐴
𝑠→0 𝑠 𝑠 1 + 𝜏𝑠 + 1 0 1 + 𝜏0 + 1
Example
In this case 𝐸𝑠𝑠 is
not zero and
during application
of ramp input 𝐶
will 𝑅 lag by 𝐴
Example
System and Feedback Transfer functions:
1
𝐺 𝑠 = and 𝐻 𝑠 = 2
1 + 𝜏𝑠

Error
𝐸 𝑠 1 1 𝜏𝑠 + 1
= = =
𝑅 𝑠 1+𝐺 𝑠 𝐻 𝑠 2 𝜏𝑠 + 3
1+
1 + 𝜏𝑠
Example
Step input
𝐸 𝑠 𝜏𝑠 + 1 𝐴 𝜏𝑠 + 1
= → 𝐸 𝑠 =
𝑅 𝑠 𝜏𝑠 + 3 𝑠 𝜏𝑠 + 3

Steady State Error:

𝐴 𝜏𝑠 + 1 𝜏0 + 1 𝐴 𝐴
𝐸𝑠𝑠 = lim 𝑠𝐸 𝑠 = 𝑠 = =
𝑠→0 𝑠 𝜏𝑠 + 3 𝜏0 + 3 3
Example
In this case, error is not zero and the output will not be
equal to the input
Steady state output 𝐶𝑠𝑠 can also be found using the Final
Value Theorem as follows:
𝑅 𝑠 −𝐸 𝑠 𝜏𝑠 + 1 𝑅 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝐶 𝑠 → 𝐶𝑠𝑠 = = 1−
𝐻 𝑠 𝜏𝑠 + 3 2
𝜏𝑠 + 1 𝐴 1 𝐴 𝐴
𝐶𝑠𝑠 = lim 𝑠𝐶 𝑠 = lim 𝑠 1 − = 1− =
𝑠→0 𝑠→0 𝜏𝑠 + 3 2𝑠 3 2 3
Example
Resulting response
for ℎ = 1
Example
Ramp input
𝐸𝑠𝑠 = lim 𝑠𝐸 𝑠
𝑠→0
𝜏𝑠+1 𝐴 𝜏0+1 𝐴
=𝑠 =
𝜏𝑠+3 𝑠2 𝜏0+3 0
=∞
error continues to
increase which is not
acceptable
Conclusion
Block Diagrams pictorial representation of control system
Rectangles represent operations
Lines are signals
Summing junctions enable addition/subtraction
Manipulation Techniques to reduce block diagrams to transfer
function
Steady State Errors help to determine what happens to signal
in steady state
Example Block Diagram
An electrical motor is used in a closed loop system to
control the angular position of an inertial load. The position
of the load, which is directly connected to the motor, is
measured by a simple rotary potentiometer. The output
signal from the transducer is compared with the input
demand and the resulting error signal is passed to a
voltage/current amplifier. The input demand is converted
from angular displacement to voltage before being
connected to the summing junction.
 Example
Turntable

Desire Speed
(Voltage) + Error
Control Device Actuator Process Actual Speed

- Amplifier DC Motor Turntable

Measured Speed Sensor

(Voltage) Tachometer
 System block diagram
input output
Gain + Amp. Motor Load
-
Trans

An electrical motor is used in a closed loop system to

control the angular positon of an inertial load.
 System block diagram
input output
Gain + Amp. Motor Load
-
Trans

The position of the load, which is directly connected to the

motor, is measured by a simple rotary potentiometer.
 System block diagram
input output
Gain + Amp. Motor Load
-
Trans

The output signal from the transducer is compared with the

input demand and the resulting error signal is passed to a
voltage/current amplifier.
 System block diagram
input output
Gain + Amp. Motor Load
-
Trans

The input demand is converted from angular displacement

to voltage before being connected to the summing junction.
Example: System equations
a Motor torque: 𝑇𝑚 = 𝑘𝑚 𝐼
b Amplifier: 𝐼 = 𝐴𝑉𝑒
c Load: 𝑇𝐿 = 𝐽𝑠 2 𝜃𝑜 + 𝑐𝑠𝜃𝑜
d Input demand: 𝑉𝑖 = 𝑘𝑃 𝜃𝑖
e Feedback: 𝑉𝑜 = 𝑘 𝑇 𝜃𝑜
f Error: 𝑉𝑒 = 𝑉𝑖 −𝑉𝑜
System block diagram
𝑉𝑖 𝑉𝑒 𝐼 𝑇𝑚
𝜃𝑖 𝜃𝑜
𝑘𝑃 + 𝐴 𝑘𝑚
1

- 𝑉𝑜
𝐽𝑠 2 + 𝑐𝑠

𝑘𝑇

R(s) + C(s) 𝐴𝑘𝑚 𝑘𝑃

G(s) 𝐺 𝑠 = 2
𝐽𝑠 + 𝑐𝑠
- H(s) 𝐻 𝑠 =
𝑘𝑚
𝑘𝑃
Example
Closed Loop Transfer function for system:
𝜃𝑜 𝑠 𝐴𝑘𝑚 𝑘𝑃
= 2
𝜃𝑖 𝑠 𝐽𝑠 + 𝑐𝑠 + 𝐴𝑘𝑚 𝑘 𝑇