Automatic Control Systems-Lecture-6

Automatic Control Systems
Lecture-6
System Block Diagrams and Perform Reduction Techniques of Block
Diagrams
Lecturer: Eng. Jean Felix Manirakiza (M.Eng)
Rwanda Polytechnic/IPRC Gishari
Session Objectives
By the end of this session, learners will be able to:
Definition of basic elements of block diagram
Explain rules for block diagram reduction
Explain procedures followed for block diagram reduction
Perform block diagram reductions
Introduction
Block diagrams show the interaction between system elements for easy
determination of overall system transfer function.
Block diagram is a pictorial representation of each system.
Each element of a complicated system is represented by a block.
The main aim of this lecture is to introduce block diagram

representation and the rules to solve any complicated systems.
Definition of basic elements of block diagram
• Block diagram: The pictorial representation of the cause and effect
relationship between input and output of a physical system is known
as block diagram.
• Output: The value of input multiplied by the block gain is known as

output.
𝐶 𝑠 = 𝐺 𝑠 . 𝑅(𝑠)
• Summing point: At summing point, two or more signals can be added
or subtracted.
𝑋 𝑠 , 𝑍 𝑠 𝑎𝑛𝑑 𝑌 𝑠 𝑎𝑟𝑒 𝑖𝑛𝑝𝑢𝑡𝑠 𝑤ℎ𝑖𝑙𝑒 𝐶 𝑠 𝑖𝑠 𝑎𝑛 𝑜𝑢𝑡𝑝𝑢𝑡.

It can be written as 𝐶 𝑠 = 𝑋 𝑠 + 𝑍 𝑠 − 𝑌(𝑠)
• Take off point: The point at which the output signal of any block can
be applied to two or more points is known as take off point.
• Forward path: The direction of flow of signal from input to output is

known as forward path.
• Feed back path: The direction of flow of signal from output to input is
known as feedback path.
Block diagram reduction
In many practical situations, the block diagram of a Single Input-Single
Output (SISO), feedback control system may involve several feedback
loops and summing points. In principle, the block diagram of (SISO)
closed loop system, no matter how complicated it is, it can be reduced
to the standard single loop form
Rules for block diagram reduction
Rule 1: Associative law
When the positions of summing points are interchanged, the output

remain unchanged.
If any block is present in between the summing points, by
interchanging the summing points the output will not be equal.
• Rule 2: For blocks in cascade
From the figure we can write

𝑅1 𝑠 = 𝐺1 𝑠 . 𝑅(𝑠)
𝐶 𝑠 = 𝐺2 𝑠 . 𝑅1 𝑠 = 𝐺2 𝑠 . 𝐺1 𝑠 . 𝑅 𝑠
𝐶(𝑠)
The transfer function of the system= = 𝐺1 𝑠 . 𝐺2 𝑠
𝑅(𝑠)
• Rule 3: For blocks in parallel
𝐶 𝑠 = 𝑅1 𝑠 + 𝑅2 𝑠 = 𝐺1 𝑠 . 𝑅 𝑠 + 𝐺2 𝑠 . 𝑅(𝑠)
= [𝐺1 𝑠 + 𝐺2 (𝑠)]. 𝑅(𝑠)
𝐶(𝑠)
= 𝐺1 𝑠 + 𝐺2 𝑠
𝑅(𝑠)
• Rule 4: Eliminate feedback loop
𝐸 𝑠 = 𝑅 𝑠 − 𝐵(𝑠)
𝐶 𝑠 = 𝐺 𝑠 . 𝐸 𝑠 = 𝐺 𝑠 𝑅 𝑠 − 𝐵 𝑆 = 𝐺 𝑠 𝑅 𝑠 − 𝐺 𝑠 𝐵(𝑠)
=𝐺 𝑠 𝑅 𝑠 −G s H s C s ∴ 𝐵 𝑠 = 𝐻 𝑆 𝐵(𝑠)
𝐶 𝑠 + 𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅(𝑠)
𝐶 𝑠 1 + 𝐻 𝑠 𝐺 𝑠 = 𝐺 𝑠 𝑅(𝑠)
𝐺 𝑠
𝐶 𝑠 = . 𝑅(𝑠)
1+𝐻 𝑠 𝐺 𝑠
𝐶(𝑠) 𝐺(𝑠)
𝑇ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 =
𝑅(𝑠) 1 + 𝐺 𝑠 𝐻(𝑠)
This equation is valid for negative feedback.
For positive feedback

𝐶(𝑠) 𝐺(𝑠0
=
𝑅(𝑠) 1 − 𝐺 𝑠 𝐻(𝑠)
Rule 5: Shifting a summing point before a block
𝑋 𝑠
𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 + 𝑋(𝑠) 𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 + = 𝐺 𝑠 𝑅 𝑠 + 𝑋(𝑠)
𝐺 𝑠
The output in both cases are identical.

• Rule 6: Shifting a summing point after a block
𝐶 𝑠 =𝐺 𝑠 𝑅 𝑠 +𝑋 𝑠 𝐶 𝑠 = 𝑅 𝑠 𝐺 𝑠 + 𝑋 𝑠 𝐺(𝑠)
= 𝐺 𝑠 [𝑅 𝑠 + 𝑋 𝑠 ]
In both cases, the output is the same.
• Rule 7: Shifting of take-off point before a block
𝑿 𝒔 =𝑪 𝒔 =𝑹 𝒔 𝑮 𝒔 𝑿 𝒔 = 𝑹 𝒔 𝑮(𝒔)
• Rule 8: Shifting of take-off point after a block
1
𝑋 𝑠 =𝑅 𝑠 𝑋 𝑠 = . 𝐺 𝑠 . 𝑅 𝑠 = 𝑅(𝑠)
𝐺 𝑠
• Rule 9: Shifting of take-off point before summing block
In both cases, 𝑍 𝑠 = 𝑅(𝑠) ± 𝑌(𝑠)

• Rule 10: Shifting of take-off point after summing block
𝑋 𝑠 =𝑅 𝑠 𝑍 𝑠 = 𝑅 𝑠 ± 𝑌 𝑠 ± 𝑌 𝑠 = 𝑅(𝑠)
Procedures for reduction of block diagram
Step 1: Reduce the cascaded blocks
Step 2: Reduce the parallel blocks
Step 3: Reduce the internal feedback loops
Step 4: It is advisable to shift take off points towards rights and
summing points towards left. It is always better to avoid rule 9 and rule
10.
Procedures for reduction of block diagram
(cont’d)
Step 5: Repeat steps 1 to 4 until the simple form is obtained
Step 6: Find the transfer function of the overall system using the
𝐶(𝑠)
formula
𝑅(𝑠)
Solved Example
Consider the system shown in the following figure, simplify it and
𝐶(𝑠)
determine the ratio .
𝑅(𝑠)
Solution:
Step 1: Moving the summing point of H2 and G1 towards left, the
figure becomes
Step 2: By combining series connected blocks G1 and G2 and eliminate
the feedback H1, we get
𝐺1 𝐺2
Step 3: By combining series connected blocks and 𝐺3 and
1−𝐺1 𝐺2 𝐻1
𝐻2
eliminate the feedback ,we get
𝐺1
Step 4: By eliminating the unit feedback, we get
The overall system transfer function
𝐶(𝑠) 𝐺1 𝐺2 𝐺3
=
𝑅(𝑠) 1 − 𝐺1 𝐺2 𝐻1 + 𝐺2 𝐺3 𝐻2 + 𝐺1 𝐺2 𝐺3
References
1. Smarajit Gosh (2007), Control systems, Pearson Education
2. Manirakiza and Kanyarwanda (2020), ELT 303Lecture Note, IPRC
Gishari, pages 26-31.
3. K. Ogata (1997), Modern Control Engineering, 3rd Edition, Prentice
Hall.
THANK YOU FOR YOUR KIND ATTENTION

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Automatic Control Systems

Block diagram is a pictorial representation of each system.

Each element of a complicated system is represented by a block.

The main aim of this lecture is to introduce block diagram

• Output: The value of input multiplied by the block gain is known as

𝑋 𝑠 , 𝑍 𝑠 𝑎𝑛𝑑 𝑌 𝑠 𝑎𝑟𝑒 𝑖𝑛𝑝𝑢𝑡𝑠 𝑤ℎ𝑖𝑙𝑒 𝐶 𝑠 𝑖𝑠 𝑎𝑛 𝑜𝑢𝑡𝑝𝑢𝑡.

• Forward path: The direction of flow of signal from input to output is

When the positions of summing points are interchanged, the output

From the figure we can write

For positive feedback

The output in both cases are identical.

In both cases, 𝑍 𝑠 = 𝑅(𝑠) ± 𝑌(𝑠)

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