ME413SystemsDynamics&Control

Chapter10:TimeDomainAnalysisandDesignofControlSystems

Chapter10:
TimeDomainAnalysisandDesignof
ControlSystems:BlockDiagramReduction
A.Bazoune

10.1 INTRODUCTION

BlockDiagram:Pictorialrepresentationoffunctionsperformedbyeachcomponentofa
systemandthatofflowofsignals.

R (s )

G (s )

C (s )
C ( s) = G (s) R( s)

Figure101.Singleblockdiagramrepresentation.

ComponentsforLinearTimeInvariantSystem(LTIS):

Figure102.ComponentsforLinearTimeInvariantSystems(LTIS).
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Chapter10:TimeDomainAnalysisandDesignofControlSystems

Terminology:

Disturbance U ( s )
R (s )

E (s ) = R (s ) b (s )

G1 (s )

m (s )

G2 (s )

C (s )

b (s )

H (s )

Figure103.

BlockDiagramComponents.

1. Plant: A physical object to be controlled. The Plant G 2

( s ) , is the controlled system, of which a

particularquantityorconditionistobecontrolled.

2. Feedback Control System (Closedloop Control System): A system which compares output to some
referenceinputandkeepsoutputascloseaspossibletothisreference.
3. OpenloopControlSystem:Outputofthesystemisnotfeedbacktothesystem.

4. Control Element G 1 ( s ) , also called the controller, are the components required to generate the
appropriatecontrolsignal M

( s ) appliedtotheplant.

5. FeedbackElement H (s ) isthecomponentrequiredtoestablishthefunctionalrelationshipbetween
theprimaryfeedbacksignal B ( s ) andthecontrolledoutput C ( s ) .

6. Reference Input R ( s ) is an external signal applied to a feedback control system in order to

commandaspecifiedactionoftheplant.Itoftenrepresentsidealplantoutputbehavior.
7. TheControlledOutput C ( s ) isthatquantityorconditionoftheplantwhichiscontrolled.
8. ActuatingSignal E ( s ) ,alsocalledtheerrororcontrolaction,isthealgebraicsumconsistingofthe
referenceinput R ( s ) plusorminus(usuallyminus)theprimaryfeedback B ( s ) .

9. Manipulated Variable M ( s ) (control signal) is that quantity or condition which the control
elements G 1 ( s ) applytotheplant G 2 ( s ) .

10. Disturbance U ( s ) is an undesired input signal which affects the value of the controlled output

C ( s ) .Itmayentertheplantbysummationwith M
theblockdiagramofthefigureabove.

( s ) ,orviaanintermediatepoint,asshownin

11. ForwardPathisthetransmissionpathfromtheactuatingsignal E ( s ) totheoutput C ( s ) .

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

12. FeedbackPathisthetransmissionpathfromtheoutput C ( s ) tothefeedbacksignal B

( s ) .

13. SummingPoint:Acirclewithacrossisthesymbolthatindicatesasummingpoint.The ( + ) or ( )
signateacharrowheadindicateswhetherthatsignalistobeaddedorsubtracted.

14. BranchPoint:Abranchpointisapointfromwhichthesignalfromablockgoesconcurrentlytoother
blocksorsummingpoints.

Definitions

G ( s ) Directtransferfunction=Forwardtransferfunction.

H ( s ) Feedbacktransferfunction.

G ( s ) H ( s ) Openlooptransferfunction.

C ( s ) R ( s ) Closedlooptransferfunction=Controlratio

C ( s ) E ( s ) Feedforwardtransferfunction.

R (s )

E (s )

G (s )

C (s )
Output

Input

B (s )

H (s )

Figure104

Blockdiagramofaclosedloopsystemwithafeedbackelement.

10.2 BLOCKDIAGRAMSANDTHEIRSIMPLIFICATION

Cascade(Series)Connections

Figure105

Cascade(Series)Connection.

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

ParallelConnections

Figure105

ParallelConnection.

ClosedLoopTransferFunction(FeedbackConnections)

E (s )

R (s )

G (s )

C (s )

B (s )

H (s )
Figure10.4(Repeated)

Feedbackconnection

ForthesystemshowninFigure104,theoutput C ( s ) andinput R ( s ) arerelatedasfollows:

C (s ) = G (s ) E (s )
where

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

Eliminating E ( s ) fromtheseequationsgives

C ( s ) = G ( s ) [ R ( s ) H ( s )C ( s )]

Thiscanbewrittenintheform

[1 + G ( s ) H ( s )]C ( s ) = G ( s ) R ( s )

or

C (s)
R (s)

G (s)
1 + G (s) H (s)

The Characteristic equation of the system is defined as an equation obtained by setting the
denominator polynomial ofthetransfer functiontozero.TheCharacteristicequationfortheabove
systemis

1+ G ( s ) H ( s ) = 0 .
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Chapter10:TimeDomainAnalysisandDesignofControlSystems

BlockDiagramAlgebraforSummingJunctions

C = G ( +R X )
= +GR GX

C = GR X
= G ( +R X G )
Figure106

Summingjunctions.

BlockDiagramAlgebraforBranchPoint

Figure107

Summingjunctions.

BlockDiagramReductionRules

In many practical situations, the block diagram of a Single InputSingle Output (SISO), feedback
control system may involve several feedback loops and summing points. In principle, the block
diagram of (SISO) closed loop system, no matter how complicated it is, it can be reduced to the
standardsingleloopformshowninFigure104.Thebasicapproachtosimplifyablockdiagramcanbe
summarizedinTable1:

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TABLE101

Chapter10:TimeDomainAnalysisandDesignofControlSystems

BlockDiagramReductionRules

1.

Combineallcascadeblocks

2.

Combineallparallelblocks

3.

Eliminateallminor(interior)feedbackloops

4.

Shiftsummingpointstoleft

5.

Shifttakeoffpointstotheright

6.

RepeatSteps1to5untilthecanonicalformisobtained

TABLE102.

SomeBasicRuleswithBlockDiagramTransformation

G1

G1

G2

G 1G 2

G1 G 2

Y = (GG
1 2 )X

Y = (G1 G2 )X

G2

1/ G

u1

u2

u =

u1

u2

G2

1
y
G

y = Gu

u2
u

u1

y = Gu

u1

u
y

1/ G2

e2 = G ( u1 u2 )

1/ G

u2

G1

y = Gu1 u2
y

y = ( G1 G2 ) u

Example1:Afeedbacksystemistransformedintoaunityfeedbacksystem

R ( s)

G (s)

C (s)

R ( s)

1 H (s )

G ( s) H ( s)

C (s )

H ( s)

C
G
1
GH
=
=
= ClosedloopTransferfunction
R 1 GH H 1 GH
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Chapter10:TimeDomainAnalysisandDesignofControlSystems

Example2:

Reducethefollowingblockdiagrams

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Example3:

Example4

Chapter10:TimeDomainAnalysisandDesignofControlSystems

G1andG2areinseries

H1andH2andH3arein
parallel

G1isinserieswiththe
feedbackconfiguration.

C(s)
G 3G 2
= G1

R(s)
1 + G 3G 2 ( H1 - H 2 + H 3 )

Example 5: The main problem here is the feedforward of V3(s). Solution is to move this
pickoffpointforward.

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

Example6:

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

Example7

Useblockdiagramreductiontosimplifytheblockdiagrambelowintoasingleblockrelating
Y ( s ) to R ( s ) .

Solution

Example8

Useblockdiagramalgebratosolvethepreviousexample.

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

Solution

MultipleInputscases

Infeedbackcontrolsystem,weoftenencountermultipleinputs(orevenmultipleoutputcases).Fora
linear system, we can apply the superposition principle to solve this type of problems, i.e. to treat
each input one at a time while setting all other inputs to zeros, and then algebraically add all the
outputsasfollows:

TABLE103:ProcedureForreducingMultipleInputBlocks

Setallinputsexceptoneequaltozero

Transformtheblockdiagramtosolvableform.

Findtheoutputresponseduetothechoseninputactionalone

RepeatSteps1to3foreachoftheremaininginputs.

AlgebraicallysumalltheoutputresponsesfoundinSteps1to5

Example9:

WeshalldeterminetheoutputCofthefollowingsystem:

D( s)
R ( s)

G2 ( s )

G1 ( s )

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C (s)

ME413SystemsDynamics&Control

Chapter10:TimeDomainAnalysisandDesignofControlSystems

Solution

Usingthesuperpositionprinciple,theprocedureisillustratedinthefollowingsteps:

Step1:

R ( s)

Put D ( s ) 0 asshowninFigure(a).

C (s)

G2 ( s )

G1 ( s )

Step2:
The block diagrams reduce to the block
showninFigure.b

Step3:

Figure(a)
R ( s)

The output C R due to input R ( s ) is

G1 ( s) G2 ( s)

C (s)

shown in Figure (c) and is given by the

relationship

CR =

G1G 2
R
1 + G1G 2

Step4:

Put R ( s ) 0 asshowninFigure(d).

R ( s)

Step 5: Put 1 into a block, representing

thenegativefeedbackeffect.(Figured)
Step 6: Rearrange the block diagrams as
showninFigure(e).

Step7:Letthe1blockbeabsorbedinto
the,summingpointasshowninFigure(f).

Step8:ByEquation(7.3),theoutput CU
G2
U
1 + G1G 2

C (s)
G1 ( s ) G2 ( s )
1+ G1 ( s ) G2 ( s )

D (s )

G1 ( s )

G2 ( s )

G2
=
[G1 R + U ]
1 + G1G2

Figure(d)

D (s )

Step9:ThetotaloutputisC:
G1G2
G2
R+
U
1 + G1G2
1 + G1G2

G2 ( s )

1
Figure(e)

D (s )

G2 ( s)

Figure(f)
Example10:

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CD ( s )

G1 ( s)

G1 ( s)

CD ( s )

C = CR + CU =

Figure(c)

duetoinputUis:

CU =

Figure(b)

CD ( s )

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Chapter10:TimeDomainAnalysisandDesignofControlSystems

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