Lecture : 6

Control Systems Engineering

Dr. G. Balamurugan
Assistant Professor
Department of Electronics Engineering
MIT Campus, Anna University.

Dr. G. Balamurugan
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Department of Electronics Engineering, MIT Campus
UNIT I SYSTEMS COMPONENTS AND THEIR
REPRESENTATION
Control System: Terminology and Basic Structure-Feed forward
and Feedback control theory- Electrical and Mechanical Transfer
Function Models-Block diagram Models-Signal flow graphs
models-DC and AC servo Systems-Synchronous -Multivariable
control system

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Department of Electronics Engineering, MIT Campus
 Block Diagram of a System
• Block diagram: It is short hand pictorial representation of the system. It
consists of many blocks, summing junctions and pick-off (take-off) points.
• Blocks are reduced to a single block using block reduction algebra.
• Block diagram reduction refers to simplification of block diagrams of
complex systems through certain rearrangements. Simplification enables easy
calculation of the overall transfer functions of the system.
• Simplification is done using certain rules called ‘ rules of block diagram
algebra’.
• All these rules are derived by simple algebraic manipulations of the
equations representing the blocks.

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Department of Electronics Engineering, MIT Campus
 Components of Block Diagram
• Blocks to represent components.
– Arrows to indicate direction of signal flow.

– Summing points to show merging signals.

– Take off points to indicate branching of signals.

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 Block Diagram Fundamentals
• Block Diagram: It is shorthand, pictorial representation of the cause and
effect relationship between input and output of a physical system.

A Simple Block Block Diagram with gain (s-domain)

• Output: The value of the input is multiplied to the value of block gain to get
the output.

C(s) = G(s) R(s)

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 Block Diagram Fundamentals
• Summing Point: Two or more signals can be added/ subtracted at summing
point.

C(s) = X(s) + Z(s)

C(s) = Y(s) + X(s) - Z(s)

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Department of Electronics Engineering, MIT Campus
 Block Diagram Fundamentals
• Take off Point: The output signal can be applied to two or more points from a
take off point.

Take off point

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 Block Diagram Fundamentals
• Forward Path: The direction of flow of signal is from input to output.

• Feedback Path: The direction of flow of signal is from output to input.

Input Output

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 Rules of Block Diagram
Rule 1 : Gain of blocks connected in cascade gets multiplied with each other.

R(s) C(s) R(s) C(s)

R1(s)

R(s) R1(s) R2(s) C(s) R(s) C(s)

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Department of Electronics Engineering, MIT Campus
 Rules of Block Diagram
Rule 1 : Gain of blocks connected in cascade gets multiplied with each other.

R(s) C(s)

D(s)

C(s)
R(s)
R(s) C(s)
D(s)
Note: If there is takeoff or summing point in between the blocks, the blocks
can not be said to be in series.
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Department of Electronics Engineering, MIT Campus
 Rules of Block Diagram
Rule 2 : Gain of blocks connected in parallel gets added algebraically.
R(s) C(s)
R(s) C(s)

R(s) R(s) C(s)

C(s)

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 Rules of Block Diagram
Rule 3 : Eliminating a feedback loop.

R(s) C(s)
R(s) C(s)

Positive Feedback System Transfer Function

R(s) C(s)
R(s) C(s)

Negative Feedback System Transfer Function

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 Gate Problems
Gate Problem 1:

Gate Problem 2:

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 Rules of Block Diagram
Rule 4 : Associative Law for Summing Points
The order of summing points can be changed if two or more summing points
are in series

R1(s) R1(s)
C(s) C(s)

R2(s) R3(s) R3(s) R2(s)

Note: If any block is present in between the summing points, by

interchanging the summing points, it can be shown that output will not be
equal.
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Department of Electronics Engineering, MIT Campus
 Rules of Block Diagram
Rule 5 : Shift summing point before block or Moving a summing point ahead
of a block

R(s) C(s) R(s) C(s)

X(s) X(s)

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 Rules of Block Diagram
Rule 6 : Shift summing point after a block or behind a block

R(s) R(s)
C(s) C(s)

X(s)
X(s)

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Department of Electronics Engineering, MIT Campus
 Rules of Block Diagram
Rule 7 : Shifting of take-off point before a block or ahead of a block

R(s) C(s)
C(s) R(s)

X(s)
X(s)

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Department of Electronics Engineering, MIT Campus
 Rules of Block Diagram
Rule 8 : Shifting of take-off point after a block or behind a block

R(s) C(s) R(s) C(s)

X(s) X(s)

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 Gate Problems
Gate Problem 3:

Gate Problem 4:

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 Rules of Block Diagram
Rule 9 : Shifting of take-off point before a summing block
Corrected Configuration

After Shifting the takeoff point

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 Rules of Block Diagram
Rule 10 : Shifting of take-off point after a summing block
Corrected Configuration

After Shifting the takeoff point

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 Summary of Rules
Rule No Configuration Equivalent
Rule 1 :
Series or cascade

Rule 2:
Parallel

Rule 3:
Feedback loop

Rule 4:
Association law
of summing
points
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Department of Electronics Engineering, MIT Campus
 Summary of Rules
Rule No Configuration Equivalent
Rule 5:
Moving summing
point before block

Rule 6:
Moving Summing
point after block

Rule 7:
Move take-off
point before a
block

Rule 8:
Move take-off
point after a block
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Department of Electronics Engineering, MIT Campus
 Summary of Rules
Rule No Configuration Equivalent
Rule 9:
Move take-off
point before a
summing point

Rule 10:
Move take-off
point after a
summing point

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Department of Electronics Engineering, MIT Campus
 Procedure for Reduction of Block
Diagram
• While solving block diagram for getting single block equivalent, the said rules need to be
applied. After each simplification a decision needs to be taken. For each decision we suggest
preferences as
Procedure for Reduction of
Procedure for Reduction of Block Diagram
Multiple Inputs
• First Choice
• Consider one input and put other
– First Preference: Rule 1 – Reduce the cascade blocks
inputs to zero.
– Second Preference: Rule 2 – Reduce the parallel blocks
– Third Preference: Rule 3 – Reduce feedback loop • Repeat step 1 to 8

• Second Choice • Find the resultant output.

– Rule 4 Adjusting summing order

– Rule 5 or 6 Shifting summing point before/after block Note: It is advisable to shift take off
– Rule7 or 8 Shifting take off point before/after block points towards right and summing
points towards left.
• Repeat the above two choices until single block is obtained.
• Find the transfer function of the overall system.

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 Problem :1
Obtain the transfer function Y(s) / X(s) for the block shown below

Rule 3: Eliminate feedback loop

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 Problem :1

Rule 1 : Blocks are in series.

Rule 3: Eliminate feedback loop

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 Problem :1

Transfer Function:

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 Problem :2
Obtain the transfer function C(s) / R(s) for the block shown below

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 Problem :2
Rule 2 can be applied because G3, G4 and G5 are in parallel.

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 Problem :2
Rule 1 blocks are in series.

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 Problem :2
Rule 3 elimination of feedback loop

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Department of Electronics Engineering, MIT Campus
 Problem :2
Rule 1 blocks are in series.

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Department of Electronics Engineering, MIT Campus
 Problem :2
Rule 3 elimination of feedback loop

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Department of Electronics Engineering, MIT Campus
 Problem :2
Rule 1 blocks are in series.

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Department of Electronics Engineering, MIT Campus
 Problem :3
Find the simplified block diagram and obtain the transfer function Y(s) / R(s) for
the block shown below

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 Problem :3
Rule 8 Move take-off point A behind or after a block

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 Problem :3
To eliminate feedback loop II and parallel term III

feedback Not feedback

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 Problem :3
After eliminating feedback loop II and parallel term III

Using rule 3

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Department of Electronics Engineering, MIT Campus
 Problem :4
Find the simplified block diagram and obtain the transfer function C(s) / R(s) for
the block shown below

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Department of Electronics Engineering, MIT Campus
 Problem :4
Rule 3 to eliminate feedback loop.

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Department of Electronics Engineering, MIT Campus
 Problem
Now Rule 1, 2 or 3 cannot be used directly.
:4
There are possible ways of going ahead. Use Rule 4 & interchange order of
summing so that Rule 3 can be used on G.H1 loop. (or) Shift take off point after
G2 / (1+G2H2) block and then reduce by Rule 1, followed by Rule 3.

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Department of Electronics Engineering, MIT Campus
 Problem :4
Apply Rule 4 Exchange summing order

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 Problem :4
Apply Rule 3 Elimination feedback loop

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 Problem :4
Apply Rule 1 Bocks in series

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 Problem :4
Apply Rule 3 Elimination of feed back loop

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Gate Problem 5:
Gate Problems

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Department of Electronics Engineering, MIT Campus
Gate Problem :1

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Department of Electronics Engineering, MIT Campus
 Multi-Variable Control System
SISO: Single Input and Single Output. The SISO system will have a single variable to be controlled.
Example:
Speed control of a motor,
Temperature control of a oven.

MIMO: Multiple Input Multiple Output. When a control system has two or more variables to be controlled it is called
MIMO.
Example:
Controlling supply voltage and speed of a motor
Controlling temperature, pressure anf liquid flow rate of a plant.

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Department of Electronics Engineering, MIT Campus
Multiple Input – Multiple Output

R1(s) is considered at first and R2(s)=0

Output component of C1(s) for R1(s) is
Output component of C2(s) for R1(s) is

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Department of Electronics Engineering, MIT Campus
Multiple Input – Multiple Output

R2(s) is considered and R1(s)=0

Output component of C1(s) for R2(s) is
Output component of C2(s) for R2(s) is

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Department of Electronics Engineering, MIT Campus
 Problem :5
Find the simplified block diagram and obtain the transfer function C / R and C / X
for the block shown below

Solution: Putting X=0, Figure becomes

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Department of Electronics Engineering, MIT Campus
 Problem :5
Rule 1 blocks are in series and Rule 3 to reduce feedback loop.

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Department of Electronics Engineering, MIT Campus
 Problem :5

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Department of Electronics Engineering, MIT Campus
 Problem :5

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Department of Electronics Engineering, MIT Campus
 Problem :5

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 Problem :5

Solution: Putting R=0, Figure becomes

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 Problem :5

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Department of Electronics Engineering, MIT Campus
 Problem :5

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 Problem :5
Considering R input and X=0,

Considering X input and R=0,

Transfer Function

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Department of Electronics Engineering, MIT Campus
 You
a n k
T h
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Department of Electronics Engineering, MIT Campus