Algebra of Block Diagrams on S-

Domain

• Block Diagram
• Block Diagram Reduction
• Block Diagram of Feedback Systems
• Block Diagrams of Physical Systems
 Block Diagram
Block diagram can be drawn by assembling
1) Laplace transforms of signals;
2) Transfer functions blocks;
3) Specified signal relations.

The following elements and relations are defined to be used in a block diagram:
a) signals in s-domain (Laplace
transform);
b) transfer function block of a plant
or dynamic process;
c) and d) signal relations:
c) algebraic signal relation
(addition and/or subtraction)
multi-in single-out (MISO)
d) split of signals (branch point)
single-in multi-out (SIMO)
Attention: a) (signals) and b) (transfer function blocks) can never be separated
in a block diagram.
 Block Diagram
Cascaded transfer function blocks:

Note: 1. a) and b) are equivalent in terms of R(s)-C(s) relation but not in terms of
internal structure.
2. Signal flows only in the arrowed direction.
 Block Diagram
Parallel transfer function blocks

Note: 1. a) and b) are equivalent in terms of R(s)-C(s) relation but not in terms of
internal structure.
2. Signal flows only in the arrowed direction.
 Block Diagram
Feedback (control) system:
G1(s)=1
G(s)=G2(s)G3(s),
H(s)=H1(s)H2(s),

Negative feedback: E(s)=R(s)-H(s)C(s)

Positive feedback: E(s)=R(s)+H(s)C(s)

Derivation of c) (negative feedback case):

E(s)=R(s)-H(s)C(s)
C(s)=G(s)E(s)=G(s)[R(s)-H(s)C(s)]
=G(s)R(s)-G(s)H(s)C(s)
C(s)/R(s)=G(s)/[1+G(s)H(s)]
or C(s)/R(s)=G(s)/[1-G(s)H(s)] (positive feedback)

Note: 1. a) and b) are equivalent in terms of R(s)-C(s) relation but not in terms of
internal structure.
2. Signal flows only in the arrowed direction.
 Block Diagram
Moving a summing junction:

a). Forward:
C(s)=G(s)[R(s)+/-X(s)]
=G(s)R(s)+/-G(s)X(s)

b). Backward:
C(s)=G(s)R(s)+/-X(s)
=G(s)[R(s)+X(s)/G(s)]

Note: Equivalence has to be achieved for before-after moving.

 Block Diagram
Moving a branch point:

a). Forward:
C1(s)= G(s)R(s)
C2(s)=R(s)=G(s) R(s)/G(s)
C3(s)=R(s)=G(s) R(s)/G(s)

b). Backward:
C1(s)=C2(s)=C3(s)=G(s)R(s)

Note: Equivalence has to be achieved for before-after moving

 Block Diagram Reduction
Example 1:

Combine three summing junctions into one

Cascade and parallel blocks reduction

Negative feedback system reduction

Note: there are other approaches to reduce this block diagram.

 Block Diagram Reduction
Example 2:

Moving the branch point forward and

negative feedback system reduction

Moving summing junction backward,

cascade and parallel block reduction

Cascade and parallel blocks reduction

Negative feedback system reduction

Cascade block reduction

 Block Diagram of Feedback
Systems
In general, a negative feedback single-input single-output (SISO) (control)
system can be configured as in the following diagram:

Following terms are defined for signals in this feedback system:

Reference input signal-----R(s)

Output signal-----------------C(s)
Feedback signal-------------H(s)C(s)
Error Signal-------------------E(s)=R(s)-H(s)C(s)
 Block Diagram of Feedback
Systems
Following terms are defined for transfer functions in this feedback system:

Forward transfer function---------------------Gforward(s)=G(s)

Feedback transfer function-------------------Gfeedback(s)=H(s)
Loop gain/Open-loop transfer function----Go(s)=Gforward(s)Gfeedback(s)= G(s)H(s)
Closed-loop transfer function----------------Gc(s)=G(s)/[1+G(s)H(s)]

Note that: based on the definitions above, we have

Or
 Block Diagram of Feedback
Systems
We could also have a feedback system subject to external disturbance signal
as depicted in the following figure:

In this feedback system, two closed-loop transfer functions are meaningful:

 Block Diagram of Feedback
Systems
Note that if R(s)=0, we have the following feedback system with the input
is the disturbance signal and G1(s) is now located in feedback channel.
Please also note that in this case, we still have the negative feedback.

D(s) C(s)
+ G2(s)
-

G1(s) H(s)
Block Diagrams of Physical Systems
Example 1:

Laplace transformed equations are

The equations above can be re-organized into:

Block Diagrams of Physical Systems
K1

fv1 sX1(s) X1(s)

F(s) - -
+ 1/M1 1/s 1/s
- -
+
fv3
- +
K2
sX2(s) -
+ X2(s)
+ 1/M2 1/s 1/s
- -
fv2

K2
 Block Diagrams of Physical Systems
Example 2:
 Block Diagrams of Physical Systems
Note that:

Ea(s) + Ia(s) Tm(s)

1/(Ra+sLa) Kt 1/(sJm+Dm) 1/s
-

Kb
 Block Diagrams of Physical Systems
If disturbance torque (for example, an external drifting torque) on the motor-load
shaft is considered, then the torque equation becomes:

Accordingly, the transfer function block diagram becomes:

TD(s)

Tm(s)
Ea(s) + Ia(s) +
+
1/(Ra+sLa) Kt 1/(sJm+Dm) 1/s
-

Kb