Lecture Notes Rached Dhaouadi

ELE 353 Control Systems Spring 2014

Chap 2.4-1
Block Diagram Representation of
Open Loop / Closed Loop Systems



1.
y x
G
1
G
2


y x
G
1
G
2



2.
y
x
+
+

G
1

G
2


y x
G
1
+G
2




3.
y
x
+
+
z

G

y
x
+
+
z

G
1

G



4.
u
x +
-
y

G

y
x
+
-
u
G
G



5.
y
x
z

G

y
x
z

G
G



6.
y
x
z

G

y
x
z

G
G
1




7.
G
H

+
-
y

r

y
r
GH
G
+ 1





Lecture Notes Rached Dhaouadi
ELE 353 Control Systems Spring 2014
Chap 2.4-2
Masons Flow Graph Formula

A
A
= =

k
ijk ijk
i
i
ij
P
s U
s X
s T
) (
) (
) (
where,
ijk
P = k
th
path from variable
i
u to variable
i
x
ijk
A = cofactor of the path
ijk
P
A = determinant of the graph

ijk
A is the determinant A with the loops touching (having a common node) with the k
th
path
removed.

A = 1 (Sum of all different loop gains)
+ (Sum of gain products of all combinations of 2 non-touching loops)
- (Sum of gain products of all combinations of 3 non-touching loops)
+

When all the feedback loops are touching and all the forward paths touch the feedback loops

= =
N
q
q
k
k
L
P
s U
s X
s T
1
1
) (
) (
) (

( )
( )

=
factors loop Feedback
factors path Forward
1


Lecture Notes Rached Dhaouadi
ELE 353 Control Systems Spring 2014
Chap 2.4-3
Block diagram representation
Consider a 1-Mass system with a spring and a damper:

K
B
x

M
f



The equation of motion for the mass is
dt
dx
B x K f
dt
x d
M =
2
2
.
To build the system block diagram, the equation is rewritten as follows:
Sum
M dt
dx
B x K f
M dt
x d
=
|
.
|

\
|
=
1 1
2
2
.

M
1

2
2
dt
x d

s
1

dt
dx


E
Sum



+
-
f
M
1

-
2
2
dt
x d

s
1

dt
dx

s
1

E
B
K
x


Transfer Function:
Use Masons Flow Graph formula. There is one forward path and two loops.
Forward path from f to x:
2
1
1 1 1 1
Ms s s M
P = =
Loop 1:
Ms
B
B
s M
L = =
1 1
1

Loop 2:
2
2
1 1 1
Ms
K
K
s s M
L = =

2
2
2 1
1
1
1
1 ) (
) (
) (
Ms
K
Ms
B
Ms
L L
P
s F
s X
s G
+ +
=

= =


K Bs s M s F
s X
s G
+ +
= =
2
1
) (
) (
) ( .
Lecture Notes Rached Dhaouadi
ELE 353 Control Systems Spring 2014
Chap 2.4-4
Find the transfer functions of the following systems using block diagram reduction and
Mason's rule.

Problem 1:

+
-
y r
+
- s 2
3
2
2
0.5


Problem 2:

+
-
y
r +
-

s
1

K
2

K
1




Problem 3:

+
-
y
r
+
-
s
1

K
2

s
K
1



Problem 4:

+
-
+
-
y
u
k
2

s
1

k
1



Problem 5:

-
+
-
y
r -

5
1
+ s

K
5
1

p s +
1

s
1

5
1




Lecture Notes Rached Dhaouadi
ELE 353 Control Systems Spring 2014
Chap 2.4-5
Problem 6:

K
2

B
2

y
1
K
1

B
1

f
u
y
2
M
2
M
1



The equation of motion for the masses are

( ) |
.
|

\
|
=
dt
dy
dt
dy
B y y K f
dt
y d
M
2 1
1 2 1 1
2
1
2
1


( ) |
.
|

\
|
=
dt
dy
dt
dy
B y y K
dt
dy
B y K
dt
y d
M
1 2
1 1 2 1
2
2 2 2
2
2
2
2


The system can be represented by the following block diagram

+
-
f +
-
+
-
dt
dy
2

1
1
B
s
K
+
dt
dy
1

2
2
B
s
K
+

s M
1
1

s M
2
1


E
E


Transfer Function:
Let
dt
dy
v
1
1
= ,
dt
dy
v
2
2
=

Use Masons Flow Graph formula to find
) (
) (
) (
s F
s V
s G
2
2
=
Forward path from f to x:
s M
B
s
K
s M
P
2
1
1
1
1
1 1
|
.
|

\
|
+ =
Loop 1: |
.
|

\
|
+ =
1
1
1
1
1
B
s
K
s M
L
Loop 2: |
.
|

\
|
+ =
1
1
2
1
1
B
s
K
s M
L
Loop 3: |
.
|

\
|
+ =
2
2
2
3
1
B
s
K
s M
L
Loop 1 and Loop 3 are not touching each other.

3 1 3 2 1
1
2
1 L L L L L
P
s G
+
= ) (
Lecture Notes Rached Dhaouadi
ELE 353 Control Systems Spring 2014
Chap 2.4-6
|
.
|

\
|
+ |
.
|

\
|
+ + |
.
|

\
|
+ |
.
|

\
|
+ |
.
|

\
|
+
|
.
|

\
|
+
=
2
2
2
1
1
1
2
2
2
1
1
2
1
1
1
1
1
2
2 1
2
1 1 1 1 1
1
1
B
s
K
s M
B
s
K
s M
B
s
K
s M
B
s
K
s M
B
s
K
s M
B
s
K
s M M
s G ) (

( )
( ) ( ) ( ) ( ) ( ) s B K
s M
s B K
s M
s B K
s M
s B K
s M
s B K
s M
s B K
s M M
s G
2 2 2
2
1 1 2
1
2 2 2
2
1 1 2
2
1 1 2
1
1 1 3
2 1
2
1 1 1 1 1
1
1
) (
+ + + + + + + + +
+
=


( )
( ) ( ) ( ) ( )( ) s B K s B K
s
s B K s M s B K s M s B K s M s M M
s B K
s G
2 2 1 1 2 2 1 1 1 1 1 1 2
3
2 1
1 1
2
1
+ + + + + + + + +
+
= ) (

( )
( ) ( ) ( )
2 1 1 2 2 1
2
2 1 2 1 1 2 1 1
3
2 1 1 1 1 2
4
2 1
1 1
2
K K B K B K s B B K M K M K M s B M B M B M s M M
s B K s
s G
+ + + + + + + + + +
+
= ) (