4602-Pramujati-Lect 4 - Reduction of Multiple Subsystems

Reduction of Multiple Subsystems
Ref: Control System Engineering

Norman Nise : Chapter 5
TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL
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
Multiple subsystems - 2
1
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 system’s mathematical model.
In such a diagram, the lines interconnecting the blocks

represent the variables describing the system behaviour.
x f
K
A block diagram representing f = Kx
Antenna position
control
2
Block Diagram Reduction
Block diagram reduction involves algebraic manipulations of

the transfer functions of the subsystems or blocks, which in
effect reduce the diagram to a single block.
This gives the overall transfer function relating the input r

and output c in a block diagram and hence permits, for
example, calculation of system transient responses.
Summer  addition and subtraction of variables

x1
+
x2 + y
-
x3
A summer representing y = x1 + x2 - x3
Gain  multiplication of a single by a constant (exp. spring)

Integrator  integration with respect to time
u y y y
 dt  dt
The block diagram for an integrator
3
Constant  has no input, and its output never changes

y
c
Combining block diagram

Consider the following equation : x  f a t   Ax
Steps (for input output equations)

- Solve the given equation for the highest derivative of the unknown output
variables
- Connect one or more integrator blocks in series to integrate that derivative
successively as many times as necessary to produce the output var.
- Use the result of step 1 to form the highest output derivatives as the output
of a summer and a gain block.
Construct block diagrams for the following systems

1. Mx  Bx  Kx  f a t 
2. M 1M 2 x1  M 1 K 2  M 2 K1  K 2 x1  K1 K 2 x1  K 2 f a t 
iv 
3. M 1 x1  Bx  K1  K 2 x1  Bx2  K 2 x2  0

 Bx1  K 2 x1  M 2 x2  Bx2  K 2 x2  f a t 
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
X(s) V(s) Y(s)

F1(s) F2(s)
4
Parallel combination
V1(s)
F1(s)
+
X(s) Y(s)
+
F2(s)
V2(s)
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
Equivalent diagrams for

the diagram shown in
Example 1
5
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

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
6
Moving a summing junction
Ahead of a block After a block
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
7
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

Reducing diagrams Y(s)
for feedback systems

G(s) = Y(s)/E(s)  forward transfer
function
H(s) = Z(s)/Y(s)  feedback transfer

function
Y(s)
G(s)H(s)  open-loop transfer
function
T(s) = Y(s)/R(s)  closed-loop transfer

Z(s)
function
H(s) = 1  unity feedback

Y(s)
system
8
Obtaining the CLTF
E ( s )  R( s )  YH ( s )
Y ( s )  E ( s )G ( s )
Y (s)
 R( s )  YH ( s )
G(S )
Y ( s ) 1  GH ( S )   GR( s )
Y (s) G ( s) E ( s) 1
 ; 
R( s ) 1  GH ( S ) R( s ) 1  GH ( S )
Y (s)
is the closed loop TF
R( s)
Unity feedback
For a unity feedback, the CLTF is
Y (s) G(s)

R( s) 1  G ( S )
1  GH ( S )  0
This equation is called the characteristic equation of the closed loop

system, giving the root or poles of the TF on the s-plane.
9
Consider the cascade or series connection of two blocks in the

Fig. By definition,
C = G2 M M = G1R
Substituting the second into the first yields

C = GR G = G1G2
By direct extension it follows that

The overall transfer function of a series of blocks equals the
product of the individual transfer functions.
10
Loop Gain
In words, and in somewhat generalized form, this
may be stated as follows:
 The closed-loop transfer function of the standard
loop equals the product of the transfer functions in

the forward path divided by the sum of 1 and the
loop gain function.
 The loop gain function is defined as the product of
the transfer functions around the loop.
11
For the present system, the

Loop gain function = G1G2H(s)
If H = 1, then E = R - C is the system error, then E/R is

the input-to-error transfer function.
This will permit the error response for a given input r(t)
to be found directly.
Error to input TF
Since C = G1G2E(s), then the error to input TF is

E (s) 1

R( s ) 1  G1G2 H ( S )
If the feedback H = 1 and G = G1G2

E (s) 1

R( s) 1  G
Note that the characteristic equation here is 1+G = 0.
12
Reducing TF blocks
13
Example 3
14
15
Block diagram reduction via familiar form

Example 4  reduce the block diagram shown below to a single transfer
function
16
Steps in solving Example 4:

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)
Block diagram reduction by moving blocks

function
17
Steps in the
block diagram
reduction for
Example 5

function
18
Example 7  find the equivalent transfer function T(s)=C(s)/R(s)
Example 8  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.
19
Example 9 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 closed-
loop system in terms of the gains a0 and a1.
Figure 1
Equivalent block diagrams Multiple subsystems - 39
Second order system

Example 10  construct the block diagram for the system described by
the differential equation
a2 y  a1 y  a0 y  f t 
which involves no input derivatives in its input function. Then use the block
diagram to find a state-variable model for the system
20
2. Analysis and Design of Feedback System

Immediate application of the principles of block diagram.
Example 11  find the peak time, percent overshoot and settling time.
Example 12  design the value gain K for the system below so that the
system will respond with a 10 % overshoot
Two or more inputs
21
Since the plant is assumed linear, the total output c(t) can be
independently evaluated due to
 the disturbance or load D
 the input R and then added together
The same concept can be applied for transfer functions
First set D(s) = 0 to evaluate C1/R
C1 ( s ) G1G2

R( s ) 1  G1G2 H ( S )
Second set R(s) = 0 to evaluate C2/D
C2 ( s ) G2 L

D( s ) 1  G1G2 H ( S )
The characteristic equations are the same
22
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
Converting common block diagrams to signal-flow graphs
a. cascaded system nodes; b. cascaded system signal-flow graph;
23
c. parallel system nodes; d. parallel system signal-flow graph;

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

24
Example 13  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
Example 14  Convert the block diagram below to signal-flow graph
25

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Reduction of Multiple Subsystems

Ref: Control System Engineering

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

1. Block Diagrams for Dynamic Systems

In such a diagram, the lines interconnecting the blocks

A block diagram representing f = Kx

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Block Diagram Reduction

Block diagram reduction involves algebraic manipulations of

This gives the overall transfer function relating the input r

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Summer  addition and subtraction of variables

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

Constant  has no input, and its output never changes

Combining block diagram

Steps (for input output equations)

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Construct block diagrams for the following systems

3. M 1 x1  Bx  K1  K 2 x1  Bx2  K 2 x2  0

Rules for altering diagram structure

X(s) V(s) Y(s)

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Equivalent diagrams for

Moving block to create familiar forms

1 Original diagram, 2 & 3 equivalent diagrams

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Block diagram algebra

Moving a summing junction

Ahead of a block After a block

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Block diagram algebra

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

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Reducing diagrams Y(s)

for feedback systems

H(s) = Z(s)/Y(s)  feedback transfer

T(s) = Y(s)/R(s)  closed-loop transfer

H(s) = 1  unity feedback

Obtaining the CLTF

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

This equation is called the characteristic equation of the closed loop

Consider the cascade or series connection of two blocks in the

Substituting the second into the first yields

By direct extension it follows that

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

loop equals the product of the transfer functions in

the transfer functions around the loop.

For the present system, the

If H = 1, then E = R - C is the system error, then E/R is

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Since C = G1G2E(s), then the error to input TF is

If the feedback H = 1 and G = G1G2

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Block diagram reduction via familiar form

Steps in solving Example 4:

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Block diagram reduction by moving blocks

TM 141352 – SYSTEM DYNAMICS & AUTOMATIC CONTROL

Example 6  reduce the block diagram shown below to a single transfer

Example 7  find the equivalent transfer function T(s)=C(s)/R(s)