03 Automatic Control Control System Representation

Automatic Control
Control System Representation
1-Nov-16
Aims for this chapter
Convert block diagrams to signal-flow diagrams.
Reduce a block diagram of multiple subsystems to a single block
representing the transfer function from input to output.
Find the transfer function of multiple subsystems using Masons rule.
Represent state equations as signal-flow graphs
Represent multiple subsystems in state space in cascade, parallel,
controller canonical, and observer canonical forms.
Perform transformations between similar systems using
transformation matrices; and diagonalize a system matrix
System Block Diagram Representation
So far, we have been working with individual subsystems
represented by a block with its input and output via considering
Modeling & Linearization
Laplace Transform & Input/output TF representation
modeling linearization
x = x + x 2 sin x + u x = x + u
Laplace
System Block Transform
Representation
X (s )
U (s ) G (s ) X (s )
1
TF : = G (s ) =
U (s ) s +1
For more complicated systems, they are going to be represented by
the interconnection of many subsystems
As you already know, a subsystem is represented as a block with an
input, an output, and a transfer function.
Many systems are composed of multiple subsystems based on the

following fundamental signal flow
Summation junction point Pickoff point

We will now examine some common topologies for interconnecting
subsystems and derive the single transfer function representation
for each of them.
These common topologies will form the basis for reducing more
complicated systems to a single block (or the so-called equivalent
representation).
The topologies include:
A. Cascade Form
B. Parallel Form
C. Feedback Form
A. Cascade Form
For the cascade form, it can be found that each signal is derived
from the product of the input times the transfer function
Equivalent
Representation
B. Parallel Form
Parallel subsystems have a common input and an output formed by
the algebraic sum of the outputs from all of the subsystems.
Equivalent
Representation
C. Feedback Form
Note that the feedback system is the basis for our study of control
systems engineering.
Equivalent
Representation
Block Diagram Manipulation
Following shows the equivalent block diagrams when transfer
functions are moved left or right past a summing junction
C (s ) = G (s )(R(s ) X (s ))
C (s ) = G (s )R(s ) G (s ) X (s )
Following shows the equivalent block diagrams when transfer
functions are moved left or right past a summing junction
C (s ) = G (s )R(s ) X (s )
1
C (s ) = G (s ) R(s ) X (s )
G (s )
Block diagram algebra for pickoff points equivalent forms for moving
a block to the left past a pickoff point & to the right past a pickoff
point.
Block Diagram Manipulation (ex.)
Based on the previous topologies, lets try to simply the following
system block diagram.
Examine the summation nodes, one can find
Examine the feedback terms, one can find
Try to represent the following system by a SINGLE transfer function!
With the aid of the block diagram manipulation, the roots (or the
poles) of the single transfer function can be found by solving the
denominator polynomial.
The roots of the system

affect the response.
Note that the above TF is also called the closed-loop transfer

function and the poles dominate the stability of the CL system.
The relationships between the roots and the time domain response
will be discussed in the next chapter~
In MATLAB, it provides a function to solve the roots of polynomials.
MATLAB function name: roots
Ex.1. Consider a polynomial s 2 + 2s + 3 = 0
2 22 4 3
The roots are s1, 2 = = 1 2
2
-1.0000 + 1.4142i
Solve it by MATLAB using roots([1 2 3]) -1.0000 - 1.4142i
Ex.2. Consider a higher order polynomial
s 5 + 2 s 4 + 3s 3 + 4 s 2 + 5 s + 6 = 0
-1.4918
roots([1 2 3 4 5 6]) 0.5517 + 1.2533i -0.8058 + 1.2229i
0.5517 - 1.2533i -0.8058 - 1.2229i
Signal Flow Graphs
Signal-flow graphs are an alternative to block diagrams.
Unlike block diagrams (which consist of blocks, signals, summing
junctions, and pickoff points), a signal-flow graph consists only of
branches and nodes, which represent systems and signals,
respectively.
system Interconnection of
systems & signals
signal
Signal Flow Graphs
Recall the system represented in block diagram
The corresponding signal flow graph is

Signal Flow Graphs
Again, for the parallel system block diagram
Signal Flow Graphs
Last, for the feedback form
Signal Flow Graphs
Try to represent the following system by a signal flow graph!
SFG to State Space Representation
Following we are trying to transform each 1st order block into an
equivalent differential equation.
Recall that each first-order block is of the form
Cross-multiplying
Taking the inverse Laplace transform gives

Equivalent Representation
.
ci(t)
ri(t) ci(t)
s-domain Time domain

For a given transfer function, one can also
firstly represent the system in the form of signal flow graph.
secondly represent the system by the (time domain) differential equation.
finally represent it in the form of state-space
For the following 3rd order TF
It can be represented by the following Cascade Form
We have known that each 1st order system can be transformed into a 1st
order differential equation.
Transfer function representation
Signal flow graph

x3 x2 x1
State differential equation

Moreover, based on the differential equation
We are able to represent it in the following compact form
This matrix form is the so-called state-space representation.

Consider again the same 3rd order TF but represented to a partial-
fraction expansion (i.e., the Parallel Form)
It is the sum of the individual first-order subsystems.
X1(s) X2(s) X3(s)
So the signal-flow graph is

Based on the signal, one can derive the corresponding differential
equation .
x1(t)
.
x2(t)
.
x3(t)
Thus, the state-space representation is

Again, for the same system but without partial fraction expansion()
Applying cross-multiplying yields
The corresponding differential equation is found by taking the

inverse Laplace transform. Assuming zero initial conditions results in
One can further obtain a Canonical Form.

Now define x1 = x2 Output
State Equation
Equation x2 = x3
x3 = 9 x3 26 x2 + 24 x1 + 24r y = x1
State-space form
Canonical
Form
Cascade Parallel
The last representation of the system yields a diagonal system
matrix.
What is the advantage of diagonal representation?
Each equation is a 1st-order differential equation in only one variable.
The equations are said to be decoupled.
Thus, we could solve these equations independently.
Masons rule
Earlier, we have discussed how to reduce block diagrams to single
transfer functions.
Now we are ready to discuss a technique for reducing signal-flow
graphs to single transfer functions that relate the output of a system
to its input.
Masons rule (derived by S. J. Mason, 1953) can be used for reducing
a signal-flow graph to a single transfer function via certain formulas.
Masons rule
Masons formula has several components that must be evaluated.
We must be sure that the definitions of the components are well
understood.
A. Loop gain
B. Forward-path gain
C. Non-touching loops
D. Non-touching-loop gain
Before introducing Masons rule, lets examine the above definitions.

Masons rule
understood.
A. Loop gain + + + + +
The product of branch gains found by traversing a path that starts at
anode and ends at the same node
Masons rule
understood.
The product of gains found by traversing a path from the input node
to the output node of the signal-flow graph in the direction of signal
flow
Masons rule
understood.
Non-touching loops means loops that do not have any nodes in
common
1.
The loop does not touch 2.
3.
Masons rule
understood.
The product of loop gains from non-touching loops taken two, three,
four, or more at a time
Therefore
Masons rule
The input/output transfer function C(s)/R(s) of a system represented by a
signal-flow graph is
C (s ) T
G (s ) = = kN=1 k k
R (s )
where
k number of forward paths
Tk the kth forward-path gain
1 loop gains
+ non-touching-loop gains taken two at a time
non-touching-loop gains taken three at a time
+ non-touching-loop gains taken four at a time . . .
k loop gain terms in that touch the kth forward path: In other
words; k is formed by eliminating from those loop gains that touch the k-
th forward path.
Masons rule (ex.)
Find the transfer function!!
A. The forward-path gains
B. Loop gains
Masons rule (ex.)
C-1. Non-touching loops taken
two at a time.
Three possible
combinations
C-2. Non-touching loops taken three at a time
Hence one has

Masons rule (ex.)
We form k by eliminating
from the loop gains that
touch the k-th forward path:
Finally, we have
Masons rule (ex.)
Try to find the transfer function by using Masons rule!
Masons rule (ex.)
Try to represent the following system by a signal flow graph!
G1 (s )G2 (s )H1 (s )
G1 (s )G2 (s )G3 (s )
A. Forward-path gains G2 (s )H 2 (s )
G1 (s )G3 (s ) G (s )H (s )
B. Loop gains 3 3
C. Non-touching loops taken two at a time. G2 (s )H 2 (s ) & G3 (s )H 3 (s )

G1 (s )G2 (s )H1 (s ) & G3 (s )H 3 (s )
D. Non-touching loops gain G2 (s )H 2 (s )G3 (s )H 3 (s )

G1 (s )G2 (s )H1 (s )G3 (s )H 3 (s )
k=1 T T T11 + T2 2
G (s ) = kN=1 k k = 2k =1 k k =

G1G2G3 1 + G1G3 1
=
1 ( G1G2 H1 G2 H 2 G3 H 3 ) + (G2 H 2G3 H 3 + G1G2 H1G3 H 3 )
Homework
Q.1 Represent the following block diagram by a single transfer
function.
Q.2 Please draw the signal flow graph & represents it in the state-
space form

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Automatic Control

Control System Representation

Many systems are composed of multiple subsystems based on the

Summation junction point Pickoff point

The roots of the system

Note that the above TF is also called the closed-loop transfer

Ex.2. Consider a higher order polynomial

The corresponding signal flow graph is

Taking the inverse Laplace transform gives

s-domain Time domain

It can be represented by the following Cascade Form

Signal flow graph

State differential equation

We are able to represent it in the following compact form

This matrix form is the so-called state-space representation.

It is the sum of the individual first-order subsystems.

X1(s) X2(s) X3(s)

So the signal-flow graph is

Thus, the state-space representation is

Applying cross-multiplying yields

The corresponding differential equation is found by taking the

One can further obtain a Canonical Form.

Before introducing Masons rule, lets examine the above definitions.

A. The forward-path gains

C-2. Non-touching loops taken three at a time

Hence one has

C. Non-touching loops taken two at a time. G2 (s )H 2 (s ) & G3 (s )H 3 (s )

D. Non-touching loops gain G2 (s )H 2 (s )G3 (s )H 3 (s )

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