Reduction of Multiple Subsystems

Ref: Control System Engineering

Norman Nise : Chapter 5

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Chapter objectives :

How to reduce a block diagram of multiple subsystems to a

single block representing the transfer function from input
to output
How to analyze and design transient response for a system
consisting of multiple subsystems
How to represent in state space a system consisting of
multiple subsystems

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1. Block Diagrams for Dynamic Systems

Block diagram  an interconnection of blocks representing
basic mathematical operations in such a way that the overall
diagram is equivalent to the systems mathematical model.
In such a diagram, the lines interconnecting the blocks
represent the variables describing the system behaviour.

K
A block diagram representing f = Kx
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Summer  addition and subtraction of variables

x2

x1
+
+

x3
A summer representing y = x1 + x2 - x3

Pickoff point  input signal distribution to several output point

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Gain  multiplication of a single by a constant (exp. spring)

Integrator  integration with respect to time
u

dt

y&

dt

The block diagram for an integrator

Constant  has no input, and its output never changes

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Rules for altering diagram structure

Transfer functions which are generally the ratio of two polynomials are
often denoted by F(s), G(s) or H(s). When the transfer function is a constant,
then that block reduces to a gain block.
Series combination

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Parallel combination

Example 1
Evaluate the transfer functions Y(s)/U(s) and Z(s)/U(s) for the block diagram
below  give the results as rational functions of s

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Equivalent diagrams for

the diagram shown in
Example 1

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Moving block to create familiar forms

Moving a pick off point  a point where an incoming variable in the diagram
is directed into more than one block

(1)

(2)
(3)

1 Original diagram, 2 & 3 equivalent diagrams

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Block diagram algebra

for pickoff points equivalent forms for
moving a block
a. to the left past a
pickoff point;
b. to the right past a
pickoff point

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Moving a summing junction

Ahead of a block

After a block

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Block diagram algebra

for summing junctions equivalent forms for
moving a block
a. to the left past a
summing junction;
b. to the right past a
summing junction

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Example 2  Modify the bock diagram in (a) to remove the right summing
junction, leaving only the left summing junction

(a) Original diagram, (b), (c) & (d) equivalent diagrams

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Reducing diagrams
for feedback systems
G(s) = Y(s)/V(s)  forward transfer
function
H(s) = Z(s)/Y(s)  feedback transfer
function
G(s)H(s)
function

 open-loop transfer

T(s) = Y(s)/U(s)  closed-loop

transfer function
H(s) = 1
system

 unity feedback

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Block diagram reduction via familiar form

Example 3  reduce the block diagram shown below to a single transfer
function

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Steps in solving Example 3:

a. collapse summing
junctions;
b. form equivalent cascaded
system in the forward path
and equivalent parallel
system in the feedback path;
c. form equivalent feedback
system and multiply by
cascaded
G1(s)

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Block diagram reduction by moving blocks

Example 4  reduce the block diagram shown below to a single transfer
function

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Steps in the
block diagram
reduction for
Example 4

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Example 5  find the equivalent transfer function T(s)=C(s)/R(s)

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Example 6  Find the closed-loop transfer function for the feedback

system below. Compare the locations of the poles of the open-loop and
closed-loop transfer function in s-plane.

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Example 7  Find the closed-loop transfer

function of the two-loop feedback system in
Fig 1. Also express the damping ratio and the
un-damped natural frequency of the closedloop system in terms of the gains a0 and a1.
Figure 1

Equivalent block diagrams

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2. Analysis and Design of Feedback System

Immediate application of the principles of block diagram.
Example 9  find the peak time, percent overshoot and settling time.

Example 10  design the value gain K for the system below so that the
system will respond with a 10 % overshoot

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3. Signal-Flow Graphs
Signal flow graphs are alternative to block diagram.
A signal flow graph consists only of branches, which represent systems, and
nodes, which represent signals.
Signal-flow graph components:
a. system;
b. signal;
c. interconnection of systems
and signals

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Converting common block diagrams to signal-flow graphs

a. cascaded system nodes; b. cascaded system signal-flow graph;

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c. parallel system nodes; d. parallel system signal-flow graph;

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e. feedback system nodes; f. feedback system signal-flow graph;

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Example 11  Convert the

block diagram in Example
4 to signal-flow graph.

Signal-flow graph
development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-flow
graph

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Example 12  Convert the block diagram below to signal-flow graph

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