MECH261

Control Principles
Tutorial #3
Block diagram
Transfer Function
Consists of Blocks
Can be reduced
) (s R
2
G
3
G
1
G
4
G
1
H
2
H
) (s Y
G
) (s Y
) (s R
Reduction techniques
2
G
1
G
2 1
G G
2. Moving a summing point behind a block
G
G
G
1
G
2
G
2 1
G G
1. Combining blocks in cascade or in parallel
5. Moving a pickoff point ahead of a block
G
G
G
G
G
1
G
3. Moving a summing point ahead of a block
G
G
G
1
4. Moving a pickoff point behind a block
6. Eliminating a feedback loop
G
H
GH
G
1
7. Swap with two neighboring summing points
A B A B
G
1 H
G
G
1
Example 1
Find the transfer function of the following
block diagrams
2
G
3
G
1
G
4
G
1
H
2
H
) (s Y
) ( s R
(a)
1. Moving pickoff point A ahead of block
2
G
2. Eliminate loop I & simplify
3 2 4
G G G
B
1
G
2
H
) (s Y
4
G
2
G
1
H
A B
3
G
2
G
) (s R
I
Solution:
3. Moving pickoff point B behind block
3 2 4
G G G
1
G
B
) (s R
2 1
G H
2
H
) (s Y
) /( 1
3 2 4
G G G
II
1
G
B
) (s R
C
3 2 4
G G G
2
H
) (s Y
2 1
G H
4
G
2
G
A
3
G
3 2 4
G G G
4. Eliminate loop III
) (s R
) ( 1
) (
3 2 4 2 1 2 1
3 2 4 1
G G G H H G G
G G G G


) (s Y
) ( ) ( 1
) (
) (
) (
) (
3 2 4 1 3 2 4 2 1 2 1
3 2 4 1
G G G G G G G H H G G
G G G G
s R
s Y
s T



) (s R
1
G
C
3 2 4
1 2
G G G
H G

) (s Y
3 2 4
G G G
2
H
C
) ( 1
3 2 4 2
3 2 4
G G G H
G G G


Using rule 6
2
G
1
G
1
H
2
H
) (s R ) (s Y
3
H
(b)
Solution:
1. Eliminate loop I
2. Moving pickoff point A behind block
2 2
2
1 H G
G

1
G
1
H
) (s R ) (s Y
3
H
B A
2 2
2
1 H G
G

2
2 2
1
G
H G
1
G
1
H
) (s R ) (s Y
3
H
2
G
2
H
B A
II
I
2 2
2
1 H G
G

Not a feedback loop

)
1
(
2
2 2
1 3
G
H G
H H

3. Eliminate loop II
) (s R ) (s Y
2 2
2 1
1 H G
G G

2
2 2 1
3
) 1 (
G
H G H
H

2 1 2 1 1 1 3 2 1 2 2
2 1
1 ) (
) (
) (
H H G G H G H G G H G
G G
s R
s Y
s T


Using rule 6
2
G
4
G
1
G
4
H
2
H
3
H
) (s Y
) (s R
3
G
1
H
(c)
Solution:
2
G
4
G
1
G
4
H
) (s Y
3
G
1
H
2
H
) (s R
A B
3
H
4
1
G
4
1
G
I
1. Moving pickoff point A behind block
4
G
4
3
G
H
4
2
G
H
2. Eliminate loop I and Simplify
II
III
4 4 3
4 3 2
1 H G G
G G G

1
G
) (s Y
1
H
B
4
2
G
H
) (s R
4
3
G
H
II
3 3 2 4 4 3
4 3 2
1 H G G H G G
G G G

III
4
1 4 2
G
H G H
Not feedback feedback
) (s R ) (s Y
4
1 4 2
G
H G H
3 3 2 4 4 3
4 3 2 1
1 H G G H G G
G G G G

3. Eliminate loop II & IIII
1 4 3 2 1 2 3 2 1 4 4 3 3 3 2
4 3 2 1
1 ) (
) (
) (
H G G G G H G G G H G G H G G
G G G G
s R
s Y
s T


Using rule 6
3
G
1
G
1
H
2
H
) (s R ) (s Y
4
G
2
G
A
B
(d)
Solution:
1. Moving pickoff point A behind block
3
G
I
1
H
3
1
G
) (s Y
1
G
1
H
2
H
) (s R
4
G
2
G
A B
3
1
G
3
G
2. Eliminate loop I & Simplify
3
G
1
H
2
G
B
3
1
G
2
H
3 2
G G
B
2
3
1
H
G
H

1
G
) (s R ) (s Y
4
G
3
1
G
H
2 3 2 1 2
3 2
1 H G G H G
G G

II
) (s R ) (s Y
1 2 1 2 3 2 1 2
3 2 1
1 H G G H G G H G
G G G

3. Eliminate loop II
1 2 1 2 3 2 1 2
3 2 1
4
1 ) (
) (
) (
H G G H G G H G
G G G
G
s R
s Y
s T


4
G
2
G
1
G
4
G
R Y
1
H
3
G
N
Determine the effect of R and N on Y in the
following diagram
Example 2
N T R T Y Y Y
2 1 2 1

If we set N=0, then we can get Y1:
R T Y Y
N 1 0 1


The same, we set R=0 and Y2 is also obtained:
N T Y Y
R 2 0 2


Thus, the output Y is given as follows:
0 0 2 1

R N
Y Y Y Y Y
In this linear system, the output Y contains two parts,
one part is related to R and the other is caused by N:
Solution:
1. Swap the summing points A and B
2. Eliminate loop II & simplify
Y
1 2
2
1 H G
G

1
G
4
G
R
N
A B
3
G
1 2
2 1
3 1
1 H G
G G
G G

R Y
N
4
G
II
3. Let N=0
R
H G G G G G G G H G
H G G G G G G G
Y
1 3 2 1 3 1 2 1 1 2
1 3 2 1 3 1 2 1
1
1

1 2
2 1
3 1
1 H G
G G
G G

R Y
1 2
2 1
3 1
1 H G
G G
G G

R Y
N
4
G
o o
1
Y We can easily get
Rewrite the diagram:
5. Break down the summing point M:
1 2
4 2 1
4 3 1
1 H G
G G G
G G G

Y
N
1 2
2 1
3 1
1 H G
G G
G G

4. Let R=0, we can get:

1 2
2 1
3 1
1 H G
G G
G G

4
G
Y N
M
] ) 1 (
) [(
1
1
1 4 3 2 1 4 3 1 4 2 1 1 2
1 3 2 1 3 1 2 1
1 3 2 1 3 1 2 1 1 2
2 1
N H G G G G G G G G G G H G
R H G G G G G G G
H G G G G G G G H G
Y Y Y

7. According to the principle of superposition, and
can be combined together, So:
1
Y
2
Y
6. Eliminate above loops:
Y
N
1 2
4 2 1
4 3 1
1
1
H G
G G G
G G G

1 2
2 1
3 1
1
1
1
H G
G G
G G

N
H G G G G G G G H G
H G G G G G G G G G G H G
Y
1 3 2 1 3 1 2 1 1 2
1 4 3 2 1 4 3 1 4 2 1 1 2
2
1
1

End