Lecture -4: Block diagrams -2 hours

By Mr S Wijewardana
PhD student QMUL 16-04-2013

Learning Objectives:
1. Why do we use block diagrams in control
systems?
2. Standard representation of blocks
3. Simplification or reduction of block diagrams

1.Block diagrams have become more popular in linear control
systems because of its simplicity and easy to manipulate.

2. Not only in control systems, block diagram representation
is deployed in other areas like software engineering, process
engineering, economics etc.

3. It is particularly important when we wanted to discuss the
output or behaviour of a complete system as one unit while
keeping the inside electronic undisclosed or insignificant.

4. Designers are happy to work with block diagrams when
dealing with the analysis and simulations than the robust
each and every components
v
in


V
out

i

V
out
V
in
Input Output
) 1 (
1
) (
2
+ +
=
sCR LC s
s G
Block diagram representation of an LRC circuit
In lecture-2 we have derived the relationship between
Output / Input =
) 1 (
1
2
+ + sCR LC s
Fig.1
Fig.2
Now we can completely ignore Fig.1 which is the RLC circuit and can
instead concentrate on Fig.2 which is the same diagram with G(s), where
G(s) is some function of s. No matter how complicated is the circuit
diagram we are now dealing with a simple block diagram with a
mathematical representation in s-domain. Similarly we can use many
blocks to represent various circuit elements that we find in circuit
diagrams.
) ( ). ( ) (
) (
) (
) (
s X s G s Y
s G
s X
s Y
Input
Output
=
= =
G(s)
Output
Input
Y
out
y(t)

Block diagram representation in
Laplace domain for a T.F, G(s)
Since we defined that the T.F
as the ration to Output to
Input:
g(t)
Output
Input
x(t)

X
in
If the system is in time domain:
From the block diagram we can get the
relationship: y(t)= g(t).x(t)
1.
2.
Blocks connected in series(Cascade connection)
G1(s) G2(s) G3(s)
X(s)

Y2(s)

Y1(s)

Y(s)

) (
) (
) (
1
1
s G
s X
s Y
= ) (
) (
) (
2
1
2
s G
s Y
s Y
= ) (
) (
) (
3
2
s G
s Y
s Y
=
Combining all three
equations:
) ( ). ( ). (
) (
) (
.
) (
) (
.
) (
) (
3 2 1
2 1
2 1
s G s G s G
s Y
s Y
s Y
s Y
s X
s Y
=
) ( ). ( ). (
) (
) (
3 2 1
s G s G s G
s X
s Y
=
G
1
(s).G
2
(s).G
3
(s)
X(s)

Y(s)

When plants are cascaded we can get the products
of functions to find the output.

Addition and subtraction of two signal can
be shown as below:
- C(s)
X(s)
Y(s) +
-
y(t) = x(t) - c(t)

- c(t)
x(t)
y(t) +
-
It is true in Laplace domain as well:
Y(s)= X(s) C(s)
X
c(t)
x(t)
y(t) +
+
Multiplication of two signals in time domain
y(t) = x(t) . c(t)
In Laplace domain we cannot multiply
two functions: Instead we have to take
the Convolution.
*
C(s)
X(s)
Y(s)
Y(s) = X(s) * C(s)
How to reduce a simple feedback control system with a, plant:
G(s), summing junction, feedback plant: H(s) and a branch point?
T.F= H(s))
Here not the convolution but the
Definition of an input to output
signal through a block
Output signal
C(s)

R(s) E(s)
+
-
T.F=G(s))
B(s)
B(s)=C(s).H(s)
Feedback
Path
Error detector(summing point)
Forward block
Branch point
C(s)
C(s)
Error signal = E(s)
Feedback block
R(s)=Reference input signal in s-domain
C(s)= Output signal(controlled variables)
H(s)=Feedback transfer function
E(s) = Error signal= Actuating signal
Error detectors function is to find the difference between the Input signal
and the feedback signal.(can be Opamp-comparator)

At a branch point same signal is divided into branches.

Error = Input signal Feedback signal

E(s) = R(s) C(s).H(s)

For the forward block we can write the Output/Input relationship

C(s)/E(s) = G(s)

G(s) = C(s)/[R(s)-C(s).H(s)]
By cross multiplication:
C(s) = G(s)R(s) G(s).C(s).H(s)
Hence:
C(s){ 1+ G(s).H(s)} = G(s).R(s)


) ( ). ( 1
) (
) (
) (
s H s G
s G
s R
s C
+
=
) ( ). ( 1
) (
) (
) (
s H s G
s G
s R
s C
+
=
The above equation can simply be represented by one block diagram as
shown below: Note: simple feedback control system is reduced to an open-
loop block diagram
R(s)
C(s)
) ( ). ( 1
) (
s H s G
s G
+
Parallel Connection
C(s)

Output
G
1
(s)
G
2
(s)
G
n
(s)
R(s)

Input
) ( ) ( ) (
) (
) (
2 1
s G s G s G
s R
s C
n
+ + + =

=
=
n
i
i
F T L O the is which s G
s R
s C
1
. . . ) (
) (
) (

+
-
G
2
(s))
H(s))
B(s)
C(s)
G1(s)
+
-

+
-
R(s)
Example: Consider the block diagram as shown below. Simplify the
blocks to get an OLTF.
G
2
(s))
H(s))
B(s)
C(s)
G1(s)

+
-


+
-
At first, control blocks marked within the dotted lines
can be reduced to a single block
)
C(s)
G1(s)



) ( ). ( 2 1
) (
2
s H s G
s G
+
R(s) +
-
Reference:
http://en.wikibooks.org/wiki/Control_Systems/Block_Diagrams
Reference:
http://en.wikibooks.org/wiki/Control_Systems/Block_Diagrams
Output
How to move plants or summing points to different locations:
(very useful in reduction processes)
G
1
(s)
=
G
1
(s)
G
1
(s)
G
1
(s)
=
1/G
1
(s)
G
1
(s)
Output
=
G1(s)
1/G1(s)
G1(s)
A
B
-
C
G1(s)-1

A, 1
-
B
C
{1-1/G1(s)}.G1(s)
=G1(s)-1
R(s)
R(s) +
Simplify the Block diagram given below to an OLTF.
H1(s)
H2(s)
G2(s) G3(s) G1(s)
C(s)
-
+
-
H2(s)
G2(s) G3(s) G1(s)
C(s)
-
+
-
(s) G
(s) H
3
1

C(s)
-
(s) G
(s) H
3
1
)] ( ). ( ). ( 1 [
) ( ). (
). (
2 3 2
3 2
1
s H s G s G
s G s G
s G
+
R(s)
C(s)
.
) ( 3
) ( 1
) ( 2 ) ( 3 ) ( 2 1 {
) ( 3 ) ( 2 ) ( 1
1
) ( 2 ) ( 3 ) ( 2 1
) ( 3 ) ( 2 ) ( 1
|
|
.
|

\
|
+
+
+
s G
s H
s H s G s G
s G s G s G
s H s G s G
s G s G s G
R(s)
R(s)
C(s)
) ( 2 ) ( 3 ) ( 2 ) ( 1 ) ( 2 ) ( 1 1
) ( 3 ) ( 2 ) ( 1
s H s G s G s H s G s G
s G s G s G
+ +
OLTF
Matlab can be used for the block diagram reduction
G1(s)
G2(s)
+
+
Summing junction
G1(s) +G2(s)
R(s)
C(s)
Parallel:
) 2 (
) (
2
1
+
=
s
s
s G
Num1 = [1,0]
Den1 = [1,0,2]
) 1 3 (
1
) (
2
+
=
s
s G
Num1 = 1
Den1 = [3, 1]
2 6 3
2 4
) 1 3 )( 2 (
) 2 ( ) 1 3 (
1 3
1
) 2 (
) ( 2 ) (
2 3
2
2
2
2 1
+ + +
+ +
=
+ +
+ + +
=
+
+
+
= +
s s s
s s
s s
s s s
s s
s
s G s G
Answer should be: num=[0,4,1,2]; den=[3,1,6,2]
Matlab command:
[num,den]=parallel(num1,den1,num2,den2)
When two blocks are in series: it will be G1(s).G2(s) = s/(3s
3
+s
2
+6s+2)
Hence the num=[0,0,1,0]; den=[3,1,6,2]
The Matlab command: [num,den]=series(num1,den1,num2,den2)
When G1(s) and G2(s) are in a feed back loop:
G1
G2
-
+
2 7 3
3
) 1 3 (
1
.
) 2 (
1
2
2 3
2
2
2
+ + +
+
=
+ +
+
+
=
s s s
s s
s s
s
s
s
TF
Answer= num[0,3,1,0]; den=[3,1,7,2]
Matlab command for OLTF or feedback loop simplification:

[num,den]=feedback(num1,den1,num2,den2)
Manual Answer= num[0,3,1,0];
den=[3,1,7,2]
G1
G2 G1
G2
R(s) +
Use Matlab to find the OLTF and see the behaviour after unit step input
Assume G1= s/(s+3)
and G2=1/s
C(s)
-
Manual calculation gives the OLTF:
(s
3
+s
2
+3s)/[s
3
+7s
2
+10s+3]
(s
3
+s
2
+3s)/s
3
+7s
2
+10s+3
R(s)
C(s)
C(s)= R(s).(s
3
+s
2
+3s)/[s
3
+7s
2
+10s+3]

C(s)=
For a unit step input:

) 3 10 7 (
) 3 (
.
1
2 3
2 3
+ + +
+ +
s s s
s s s
s
numTF=[1,1,3,0];
denTF=[1,7,10,3];
There are two unwanted zeros in the num5, and
den5....? why?
When we manually simplify the numerator and denominator s on numerator
and s in the denominator cancel off. But program doesnt know how to do it(it
is not programmed to handle that situation)
Hence we have to write a different programme.