Reduction of Multiple Subsystems
Ref: Control System Engineering
Norman Nise : Chapter 5
RM 1511 AUTOMATIC CONTROL
Chapter objectives :
How to reduce a block diagram of multiple subsystems to a
single block representing the transfer function from input
to output
How to analyze and design transient response for a system
consisting of multiple subsystems
How to represent in state space a system consisting of
multiple subsystems
Multiple subsystems - 2
RM 1511 AUTOMATIC CONTROL
1. Block Diagrams for Dynamic Systems
Block diagram an interconnection of blocks representing
basic mathematical operations in such a way that the overall
diagram is equivalent to the systems mathematical model.
In such a diagram, the lines interconnecting the blocks
represent the variables describing the system behaviour.
K
A block diagram representing f = Kx
Multiple subsystems - 3
RM 1511 AUTOMATIC CONTROL
Summer addition and subtraction of variables
x2
x1
+
+
x3
A summer representing y = x1 + x2 - x3
Pickoff point input signal distribution to several output point
Multiple subsystems - 4
RM 1511 AUTOMATIC CONTROL
Gain multiplication of a single by a constant (exp. spring)
Integrator integration with respect to time
u
dt
y&
dt
The block diagram for an integrator
Constant has no input, and its output never changes
Multiple subsystems - 5
RM 1511 AUTOMATIC CONTROL
Rules for altering diagram structure
Transfer functions which are generally the ratio of two polynomials are
often denoted by F(s), G(s) or H(s). When the transfer function is a constant,
then that block reduces to a gain block.
Series combination
Multiple subsystems - 6
RM 1511 AUTOMATIC CONTROL
Parallel combination
Example 1
Evaluate the transfer functions Y(s)/U(s) and Z(s)/U(s) for the block diagram
below give the results as rational functions of s
Multiple subsystems - 7
RM 1511 AUTOMATIC CONTROL
Equivalent diagrams for
the diagram shown in
Example 1
Multiple subsystems - 8
RM 1511 AUTOMATIC CONTROL
Moving block to create familiar forms
Moving a pick off point a point where an incoming variable in the diagram
is directed into more than one block
(1)
(2)
(3)
1 Original diagram, 2 & 3 equivalent diagrams
Multiple subsystems - 9
RM 1511 AUTOMATIC CONTROL
Block diagram algebra
for pickoff points equivalent forms for
moving a block
a. to the left past a
pickoff point;
b. to the right past a
pickoff point
Multiple subsystems - 10
RM 1511 AUTOMATIC CONTROL
Moving a summing junction
Ahead of a block
After a block
Multiple subsystems - 11
RM 1511 AUTOMATIC CONTROL
Block diagram algebra
for summing junctions equivalent forms for
moving a block
a. to the left past a
summing junction;
b. to the right past a
summing junction
Multiple subsystems - 12
RM 1511 AUTOMATIC CONTROL
Example 2 Modify the bock diagram in (a) to remove the right summing
junction, leaving only the left summing junction
(a) Original diagram, (b), (c) & (d) equivalent diagrams
Multiple subsystems - 13
RM 1511 AUTOMATIC CONTROL
Reducing diagrams
for feedback systems
G(s) = Y(s)/V(s) forward transfer
function
H(s) = Z(s)/Y(s) feedback transfer
function
G(s)H(s)
function
open-loop transfer
T(s) = Y(s)/U(s) closed-loop
transfer function
H(s) = 1
system
unity feedback
Multiple subsystems - 14
RM 1511 AUTOMATIC CONTROL
Block diagram reduction via familiar form
Example 3 reduce the block diagram shown below to a single transfer
function
Multiple subsystems - 15
RM 1511 AUTOMATIC CONTROL
Steps in solving Example 3:
a. collapse summing
junctions;
b. form equivalent cascaded
system in the forward path
and equivalent parallel
system in the feedback path;
c. form equivalent feedback
system and multiply by
cascaded
G1(s)
Multiple subsystems - 16
RM 1511 AUTOMATIC CONTROL
Block diagram reduction by moving blocks
Example 4 reduce the block diagram shown below to a single transfer
function
Multiple subsystems - 17
RM 1511 AUTOMATIC CONTROL
Steps in the
block diagram
reduction for
Example 4
Multiple subsystems - 18
RM 1511 AUTOMATIC CONTROL
Example 5 find the equivalent transfer function T(s)=C(s)/R(s)
Multiple subsystems - 19
RM 1511 AUTOMATIC CONTROL
Example 6 Find the closed-loop transfer function for the feedback
system below. Compare the locations of the poles of the open-loop and
closed-loop transfer function in s-plane.
Multiple subsystems - 20
RM 1511 AUTOMATIC CONTROL
Example 7 Find the closed-loop transfer
function of the two-loop feedback system in
Fig 1. Also express the damping ratio and the
un-damped natural frequency of the closedloop system in terms of the gains a0 and a1.
Figure 1
Equivalent block diagrams
Multiple subsystems - 21
RM 1511 AUTOMATIC CONTROL
2. Analysis and Design of Feedback System
Immediate application of the principles of block diagram.
Example 9 find the peak time, percent overshoot and settling time.
Example 10 design the value gain K for the system below so that the
system will respond with a 10 % overshoot
Multiple subsystems - 22
RM 1511 AUTOMATIC CONTROL
3. Signal-Flow Graphs
Signal flow graphs are alternative to block diagram.
A signal flow graph consists only of branches, which represent systems, and
nodes, which represent signals.
Signal-flow graph components:
a. system;
b. signal;
c. interconnection of systems
and signals
Multiple subsystems - 23
RM 1511 AUTOMATIC CONTROL
Converting common block diagrams to signal-flow graphs
a. cascaded system nodes; b. cascaded system signal-flow graph;
Multiple subsystems - 24
RM 1511 AUTOMATIC CONTROL
c. parallel system nodes; d. parallel system signal-flow graph;
Multiple subsystems - 25
RM 1511 AUTOMATIC CONTROL
e. feedback system nodes; f. feedback system signal-flow graph;
Multiple subsystems - 26
RM 1511 AUTOMATIC CONTROL
Example 11 Convert the
block diagram in Example
4 to signal-flow graph.
Signal-flow graph
development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-flow
graph
Multiple subsystems - 27
RM 1511 AUTOMATIC CONTROL
Example 12 Convert the block diagram below to signal-flow graph
Multiple subsystems - 28
