REDUCTION OF MULTIPLE

SUB-SYSTEMS

CHAPTER 2
Learning
01 Introduction to Transfer Function
Outcome
Reduce a block diagram of multiple
02 subsystems to a single block
representing the transfer function
from input to output

03 Introduction to Signal Flow Graph

Determine the transfer function of

04 multiple subsystems using Mason’s
rule
 Introduction to
01 Transfer Function
 1
01 Introduction to Transfer Function
Transfer Function Definition
Input Output
Transfer Function

• A transfer function represents the relationship between the output signal of a control system and
the input signal, for all possible input values.
• The transfer function is the ratio of the Laplace transform of the output to the Laplace transform of
the input of a system .
• The transfer function, G(s) for a system represented in figure below is
• A general nth order, linear time-invariant differential equation is

where:
c(t) is output, r(t) is input,
a and b are constants

• Taking Laplace transform of both side,

ansnC(s) + an-1sn-1C(s) +… + a0C(s) + initial condition =
bmsmR(s) + bm-1sm-1R(s) +… + b0R(s) + initial condition
• Assuming all initial conditions are zero,
(ansn + an-1sn-1 +… + a0) C(s) = (bmsm + bm-1sm-1 +… + b0) R(s)

Therefore, the transfer function is

where
• A transfer function separates output, input and system.
• It can be represented as a block diagram as shown below.
• In general, a physical system that can be represented by a linear time-invariant
(LTI) differential equation can be modeled as a transfer function.

G(s)
 2
01 Introduction to Transfer Function

Example 1
Find the transfer function, represented by

Solution: L
Taking Laplace Transform at both sides;

Therefore,
Example 2

Use the results from Example 1 to find the

response, c(t) to an input r(t)=u(t), a unit
step. Assume zero initial condition.

where r(t) = u(t),

Solution:

L-1

#
 Impulse Function And Impulse Response

Use the results from Example 1 to find the response, c(t) to an

impulse. The input is an impulse, so r(t)=d(t). Assume zero initial
condition.
where r(t) = d(t),

Solution:

L-1
#
Example 3

Find the transfer function, G(s) corresponding to

differential equation

Answer:
Example 4

Find the differential equation corresponding to

the transfer function

Answer:
Additional example

Find the transfer function, G(s) corresponding to

differential equation

Answer: ?
Transfer Function For Feedback Control System

The general feedback form The equivalent, or closed-loop

(simplified model) is shown in transfer function (CLTF) is
figure below as: shown as:
Plant & Controller
R(s) C(s)
R(s) + E(s) C(s)
G(s) T(s)
± Error

B(s)
H(s)
Feedback
 Definitions
Forward path transfer function, G(s) is the ratio of the Laplace transform of the
output (C(s)) of a system to the Laplace transform of the input (R(s)).

Feedback path transfer function, H(s) is the ratio of the Laplace transform of the
output (B(s)) of a system to the Laplace transform of the input (C(s)).

Open-loop transfer function, G(s)H(s) is the ratio of the Laplace transform of the
output (B(s)) of a system to the Laplace transform of the input (E(s)).

For the unity feedback case (H(s) = 1), open-loop transfer function (OLTF) is
equal to forward path transfer function.

Closed-loop transfer function, T(s) is the ratio of the Laplace transform of the
output (C(s)) of a system to the Laplace transform of the input (R(s)).
Transfer Function For Feedback Control System
Forward path transfer function, G(s)

Feedback path transfer function, H(s)

Open-loop transfer function, G(s)H(s)

Closed-loop transfer function, T(s)

 Reduce multiple block
02 into a single block
 Block Diagram Transformation (Algebra)
• When multiple subsystems are interconnected, a few more schematic
elements must be added to the block diagram.
• The new elements are summing junctions and pickoff points.
 1
02 Multiple Block Reduction

Parallel Feedback Cascade

Form Form (series) Form

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

G1(s) G1(s)
R(s) C(s)
± + G1(s) G2(s)
R(s) C(s) -
±
G2(s) H1(s)

R(s) C(s)
G1(s) G2(s)

R(s)
G1(s) ± G2(s)
C(s)
R(s) 𝐺1(𝑠) C(s)

1±𝐺1(𝑠)  𝐻2(𝑠) 
 Block Diagram Algebra

There are three basic common forms, by which the

subsystem are connected together;
1. Cascade form
2. Parallel form
3. Feedback form
1. Cascade (series) form
Transfer functions connected in series are combined by multiplication.
2. Parallel Form
Transfer functions connected in parallel are combined by addition.
3. Feedback Form
Consist of transfer functions connected in cascade and parallel
forms.
 Block Diagram Algebra
Moving blocks to create familiar forms –
• Block diagram for summing junctions

To the left past a summing junction

 Block Diagram Algebra
Moving blocks to create familiar forms –
• Block diagram for summing junctions

To the right past a summing junction

 Block Diagram Algebra
• Moving blocks to create familiar forms –
• Block diagram for pickoff points

To the left past a pickoff point

 Block Diagram Algebra
Moving blocks to create familiar forms –
• Block diagram for pickoff points

To the right past a pickoff point

 Block Diagram Reduction

Procedure for reduction of block diagram:

1. Reduce the cascade blocks.
2. Reduce the parallel blocks.
3. Reduce the internal feedback loops.
4. It is advisable to shift pickoff points toward right and
summing points toward left.
5. Repeat step 1 to step 4 until the simple form is obtained.
6. Find the transfer function of the overall system using the
formula C(s)/R(s).
 1
02 Multiple Block Reduction

Example 5
Reduce the block diagram below into a single
transfer function.
 1
02 Multiple Blocks Reduction

Solution
Example 6
Reduce the block diagram below into a single
transfer function.
Solution
To the right pass a
summing junction

2
Solution

3
Feedback

5
Exercise
Find the equivalent transfer function, T(s) = C(s)/R(s),
for the system shown below.

𝑠 3+1
𝑇 ( 𝑠) = 4 2
2 𝑠 +𝑠 +2 𝑠
03 Signal Flow Graph
 1
03 Signal Flow Graph

R(s) E(s) C(s) G1(s)

G1(s) R(s) C(s)

H1(s)
H1(s)
Block Diagram

“A signal flow graph (SFG) is a graphical representation of

the relationships between the variables of the system.
SFG does not require any reduction techniques as there is
a formula known as Mason’s Gain Formula which can
directly give us the transfer function.”
04 Mason’s Rule
 2
04 Mason’s Gain Formula
A technique to reduce a signal-flow graph to a single transfer function requires the
application of one formula.

The transfer function, C(s)/R(s), of a system represented by a signal-flow graph is

Where;

∆ = 1 – (Σ loop gains) + (Σ non-touching loop gains taken

two at a time) – (Σ non-touching loop gains taken three at

𝐶 (𝑠)
∑ 𝑃𝑘 ∆𝑘 a time)+ so on .
𝑘
𝐺 ( 𝑠 )= =
𝑅 (𝑠) ∆ ∆k = 1 – (loop-gain which does not touch the forward path)

k = number of forward path

Pk = the k-th forward path gain

 3
04 Signal Flow Graph (Example)

Find the Transfer Function, C(s)/R(s), for the Signal-flow Graph in figure below.
 4
04 Signal Flow Graph (Solution)

P1 =

L1=
L2=

L3=
L4=
 5
04 Signal Flow Graph (Solution)

L11 =

L12 =
L13 =
 6
04 Signal Flow Graph (Solution)
 7
04 Signal Flow Graph (Solution)

Therefore;
 Summary
1. Given an input to a process, output will be produced.
Thus the process characteristic can be described by a
transfer function.
2. The transfer function is the ratio in Laplace transform of
the output to the input of a system .
3. The response of a system can be found by performing
inverse Laplace transform and refering to Laplace
Transform Table.
4. For a connected multiple subsystems, a single/overall
block diagram relating input an output can be found by
performing block diagram algebra.