Automatic Control Systems

Lecture-5
Block Diagram Representation of Control Systems
 Introduction
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

• The interior of the rectangle representing the block usually

contains a description of or the name of the element, gain,
or the symbol for the mathematical operation to be
performed on the input to yield the output.

• The arrows represent the direction of information or signal

flow.

d
x y
dt
 Introduction
• The operations of addition and subtraction have a special
representation.

• The block becomes a small circle, called a summing point, with

the appropriate plus or minus sign associated with the arrows
entering the circle.

• The output is the algebraic sum of the inputs.

• Any number of inputs may enter a summing point.

• Some books put a cross in the circle.

 Introduction
• In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff (or
pickoff) point is used.

• This permits the signal to proceed unaltered along

several different paths to several destinations.
 Example-1
• Consider the following equations in which 𝑥1 , 𝑥2 , 𝑥3 , are
variables, and 𝑎1 , 𝑎2 are general coefficients or mathematical
operators.
x3  a1 x1  a2 x2  5
 Example-1

x3  a1 x1  a2 x2  5
 Example-2
• Draw the Block Diagrams of the following equations.

dx1 1
(1) x2  a1   x1dt
dt b
d 2 x2 dx1
( 2) x3  a1 3  bx1
dt 2 dt
Canonical Form of A Feedback Control System
 Characteristic Equation
• The control ratio is the closed loop transfer function of the system.

C( s ) G( s )

R( s ) 1  G( s )H ( s )

• The denominator of closed loop transfer function determines the

characteristic equation of the system.

• Which is usually determined as:

1  G( s )H ( s )  0
 Example-3
B( s )
1. Open loop transfer function  G( s ) H ( s )
E( s )
C (s)
2. Feed Forward Transfer function  G (s)
E (s)
C( s ) G( s ) G(s )
3. control ratio 
R( s ) 1  G( s )H ( s )

B( s ) G( s ) H ( s )
4. feedback ratio 
R( s ) 1  G( s )H ( s )

E( s ) 1
5. error ratio 
R( s ) 1  G( s )H ( s ) H (s )
C( s ) G( s )
6. closed loop transfer function 
R( s ) 1  G( s )H ( s )

7. characteristic equation 1  G( s )H ( s )  0

8. Open loop poles and zeros if 9. closed loop poles and zeros if K=10.
Reduction techniques

1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2
3. Eliminating a feedback loop

G
G
1  GH
H

G
G
1 G

H 1
Example-4: Reduce the Block Diagram to Canonical Form.
Example-4: Continue.
 Example-5
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
 Example-5
– First we will reduce the given block diagram to canonical form

K
s 1
 Example-5

K
s 1

K
 s 1
G
1  GH K
1 s
s 1
 Example-5 (see example-3)
B( s )
1. Open loop transfer function  G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function  G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio 
R( s ) 1  G( s )H ( s )

B( s ) G( s ) H ( s )
4. feedback ratio 
R( s ) 1  G( s )H ( s )

E( s ) 1 H (s )
5. error ratio 
R( s ) 1  G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function 
R( s ) 1  G( s )H ( s )

7. characteristic equation 1  G( s )H ( s )  0

8. closed loop poles and zeros if K=10.

 Example-6
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.
Reduction techniques

4. Moving a summing point behind a block

G G
G

5. Moving a summing point ahead a block

G G
1
G
 6. Moving a pickoff point behind a block

G G
1
G

7. Moving a pickoff point ahead of a block

G G
G
8. Swap with two neighboring summing points

A B B A
 Example-7
• Reduce the following block diagram to canonical form.

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example-7
H2
G1
R _ C
G1G2
+_ + G3
1  G1G2 H1
 Example-7
H2
G1
R _ C
G1G2G3
+_ +
1  G1G2 H1
 Example-7

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
 Example 8
Find the transfer function of the following block diagram

G4
R (s ) Y (s)
G1 G2 G3

H2
H1
 I
G4
R(s ) B A
Y (s)
G1 G2 G3
H2
H1 G2

Solution:

1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4  G2G3
 G4
R(s )
GG4 
B A G2 G3
Y (s)
G1 2 G 3

H2
H1G2

3. Moving pickoff point B behind block G4  G2G3

II
R(s ) B C
Y (s)
G1 G4  G2G3
H2
H1G2 1 /(G4  G2G3 )
4. Eliminate loop III

R(s ) Y (s)
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3

R(s ) G1 (G4  G2G3 ) Y (s)

1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s) G1 (G4  G2G3 )


R( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2G3 )
 Example 9
Find the transfer function of the following block diagrams

H4
R(s ) Y (s)
G1 G2 G3 G4

H3

H2

H1
 Solution:

1. Moving pickoff point A behind block G4

I
H4
R(s ) Y (s)
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
2. Eliminate loop I and Simplify

R(s ) II Y (s)
G2G3G4 B
G1
1  G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G2G3G4 H 2  G4 H1
1  G3G4 H 4  G2G3 H 3 G4
3. Eliminate loop II & IIII

R(s ) G1G2G3G4 Y (s)

1  G3G4 H 4  G2G3 H 3

H 2  G4 H1
G4

Y (s) G1G2G3G4

R( s ) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1
Example-10: Reduce the Block Diagram.
Example-10: Continue.
Example-11: Simplify the block diagram then obtain the close-
loop transfer function C(S)/R(S). (from Ogata: Page-47)
Example-11: Continue.
Superposition of Multiple Inputs
Example-12: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
Example-12: Continue.
Example-12: Continue.
Example-13: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-13: Continue.
Example-13: Continue.
Example-14: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-14: Continue.
 Example-14: Continue.

When R1 = 0,

When R2 = 0,
Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J


La s  Ra I a(s)  K b(s)  Va(s)

Js  c (s)  K m I a(s)

Block Diagram of Armature Controlled D.C Motor

La s  Ra I a(s)  K b(s)  Va(s)

Block Diagram of Armature Controlled D.C Motor

Js  c (s)  K ma I a(s)

Block Diagram of Armature Controlled D.C Motor
 For the Fig.1.1, The water level
control system:

Figure 1.1

resistance comparator
Actuator Actual
Desired
water level
water level Water
amplifier Motor Gearing Valve
Input Error container
Output
controller Process

Float
Feedback
signal measurement
Fig. 1.8 (Sensor)
 The DC-Motor control system

comparator Actuator
Desi red Actual
rotate speed n e uk a ua rotate speed n
Regul ator Tri gger Recti fi er DC
Reference Error motor
Output n
i nput ur
control l er Process

Techometer
Feedback si gnal uf
measurement (Sensor)
Fi g. 1. 9
Fundamental structure of control systems
1) Open loop control systems

Di st ur bance
( Noi se)

I nput r ( t ) Out put c( t )

uk uact
( act ual out put )
Cont r ol l er Act uat or Pr ocess
Ref er ence Cont r ol Act uat i ng
desi r ed out put si gnal si gnal
Fi g. 1. 10

Features: Only there is a forward action from the input to the output.
2) Closed loop (feedback) control systems
Di st ur bance
( Noi se)
e( t ) = Out put c( t )
I nput r ( t ) r ( t ) - b( t ) uk uact
+ Cont r ol l er Act uat or Pr ocess
( act ual out put )
Ref er ence - Cont r ol Act uat i ng
desi r ed out put si gnal si gnal
( +)
Feedback si gnal b( t )
measur ement

Fi g. 1. 11
Features:
not only there is a forward action , also a backward action between the output and
the input (measuring the output and comparing it with the input).

1) measuring the output (controlled variable) . 2) Feedback.

 Chapter 2 Mathematical models of systems
2.1 Introduction
2.1.1 Why？
1) Easy to discuss the full possible types of the control systems—in terms of the
system’s “mathematical characteristics”.
2) The basis — analyzing or designing the control systems.
For example, we design a temperature Control system :
Disturbance
e(t)=
r(t)-b(t) uk uac Output T(t)
Input r(t) + Controller Actuator Process
actual
-
desired output (－) Control Actuating
temperature signal signal output
temperature
Feedback signalb(t) temperature
measurement

Fig. 2.1

The key — designing the controller → how produce uk.