Block Diagram

Feedback Basic Terminology

 Feedback Basic Terminology

•Process: system or central component whose output is to be controlled

•Actuator: Device that can influence the process and change the process output
•Plant: Combination of Plant and Actuator
•Controller (or compensator): Device that computes the control signal/variable : Combination of
Comparator and Compensator
•Sensor: Provides an electrical output proportional to variable to be measured.
•Reference: the desired value for the output of a system, sometimes called Reference Input or Input or Set
point
•Output: the process variable of a system to be controlled
•Comparator: Computes the difference between Reference and Output
•Transfer Function: function when multiplied by an Input provides an Output for the component or system
being modeled (usually thought of in terms of Laplace transforms for continuous systems)
Feedback Basic Terminology
 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.

• 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 and any number of inputs may enter a summing point.
 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 Problem
1. Draw the block diagrams for the following equations:
a. 𝑥3 = 𝑎1 𝑥1 + 𝑎2 𝑥2 − 5
𝑑𝑥1 1
b. 𝑥2 = 𝑎1 + 𝑏 ‫𝑥 ׬‬1 𝑑𝑡
𝑑𝑡

c. 𝑥3 = 𝑎1
Solution:
Canonical Form of a Feedback Control System
 Canonical Form of a Feedback Control System

𝑌(𝑠) 𝐺(𝑠)
Closed loop transfer function: = 1±𝐺
𝐺(𝑠) 𝑠 𝐻(𝑠)

The denominator of closed loop transfer function determines the characteristic equation of the system:

1 ± 𝐺 𝑠 𝐻 𝑠 = 0 → 𝑐ℎ𝑎𝑟𝑎𝑐𝑡𝑒𝑟𝑖𝑠𝑡𝑖𝑐 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
Canonical Form of a Feedback Control System
Example Problem
2. Determine the representation of the block diagram below:

Solution:
𝐾
Forward Transfer Function=G(s)= 1+𝐾 𝑠+1

Feedback Transfer Function=H(s)=0.1

0.1𝐾
Open loop transfer function=G(s)H(s)= 1+𝐾 𝑠+1
𝑌(𝑠) 𝐺(𝑠) 𝐾 1 𝐾
Closed loop transfer function= = 1+𝐺 = 𝐾 =
𝑅(𝑠) 𝑠 𝐻(𝑠) 1+𝐾 𝑠+1 1+ 0.1 1+𝐾 𝑠+(1+0.1𝐾)
1+𝐾 𝑠+1
𝐸(𝑠) 1 1 1+𝐾 𝑠+1
Error ratio=𝑅(𝑠) = 1±𝐺 = 𝐾 =
𝑠 𝐻(𝑠) 1+ 0.1 1+𝐾 𝑠+1+0.1𝐾
1+𝐾 𝑠+1
𝐾
Characteristic Equation: 1+G(s)H(s)=0 thus, 1 + 0.1 = 0 → 1 + 𝐾 𝑠 + 1 + 0.1𝐾 = 0
1+𝐾 𝑠+1
 Block Reduction Technique

1. Combining Block in cascade:

2. Combining Blocks in Parallel:

3. Eliminating a feedback loop:

Example Problem
3. Reduce the block diagram below to Canonical Form:
Example Problem
Solution:
 Block Reduction Technique

4. Moving a summing point after a block:

5. Moving a summing point before a block:

6. Moving a pickoff point after a block:

7. Moving a pickoff point before a block:

8. Swap with two neighboring summing points:

 Block Reduction Technique

9. Interchanging order of blocks and branching:

 Block Reduction Technique

10. Combining/Expanding Summing Junction:

Example Problem
4. Reduce the block diagram below to Canonical Form:
Example Problem
Solution:
1.) Moving summing before a block:

2.) Cascaded blocks:

Example Problem
Solution:
3.) Swap neighbor summing points:

4.) Eliminate feedback:

Example Problem
Solution:
5.) Cascaded blocks:

6.) Eliminate feedback:

Example Problem
5. Reduce the block diagram below:
Example Problem
Solution:
1.) Combining/Expanding Summing Junction:

2.) Parallel:
Example Problem
Solution:
3.) Feedback and Cascading:
Example Problem
6. Reduce the block diagram below to Canonical Form:
Example Problem
Solution:
1.) Parallel and Cascading:

2.) Feedback:
Example Problem
Solution:
3.) Cascading:

4.) Feedback:
Example Problem
7. Reduce the block diagram below:
Example Problem
Solution:
1.) Move Pick off:

2.) Two feedback loops:

Example Problem
Solution:
3.) Move block:

4.) Feedback Rules:

Example Problem
Solution:
5.) Combine Summing junctions:

6.) Parallel Rule:

Example Problem
Solution:
7.) Using Parallel Rule:

8.) Expand Summation:

Example Problem
Solution:
9.) Parallel Rule:

10.) Feedback Rule:

Example Problem
Solution:
11.) Simplify:

12.) Cascade Rule:

 Superposition of Multiple Inputs:

To find the total response in the case of multiple inputs:

1. Set all inputs except one equal to zero.
2. Transform the block diagram to canonical form, using the reduction techniques
3. Calculate the response due to the chosen input acting alone.
4. Repeat step 1 and 3 for the other remaining inputs.
5. Algebraically add of the responses (output) obtained in steps 1 to 4. This sum is the total output of the
system with all inputs acting in the same time.
Example Problem
8. Determine the output C due to inputs R and U using the Superposition Method:
Example Problem
Solution:
1.) Put U=0, the system reduces to:

2.) Put R=0, replace the negative feedback with -1 block:

Example Problem
Solution:
3.) Rearrange the block diagram:

4.) Convert the -1 block into the summing point:

Example Problem

Solution:
5.) The total response is:
Example Problem
9. Determine the output C1 and C2 due to inputs R1 and R2 using the Superposition Theorem:
Example Problem
Solution:
1.) Ignoring the output C2:

2.) Put R2=0, combining the summing points:

Example Problem
Solution:
3.) Put R1=0:
So, the total output C1=C11+C12

4.) From the original block ignore C1:

Example Problem
Solution:
5.) Put R1=0:

6.) Put R2=0:

So, the total output C2=C21+C22