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☺
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 System 1

System 2

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System 1 System 2 Closed
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Loop

Open
System 1 System 2 Loop
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 d
x y
dt
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Asiana Airlines Flight 214
San Francisco
International Airport (USA)
6th July 2013
◦ block diagram of a simplified single-axis (pitch, yaw, or roll) autopilot control
system with digital data. The objective of the control is to make the position of
the airframe follow the command signal. The rate loop included here helps to
improve system stability.
◦
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Steam Flyball
engine governor

Boulton-Watt steam engine

 In Feedback “Loop”

Actuate Sense
Gas Pedal Vehicle Speed

Compute
Control “Law”

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xn  a1 x1  a2 x2  ........an 1 xn 1
 x1 x2
 dt
1
dx1 1 
(1) x2  a1   x1dt b 

dt b
d
2 a1
d x2 dx1
( 2) x3  a1 3  bx1 dt
dt 2 dt
x2 d2
a1
dt 2
x1 
x3
d 3a1 
dt 

b
 Reduction techniques

1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2
3. Moving a summing point behind a block

G G
G
 Reduction techniques

4. Moving a summing point ahead of a block

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

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G
 Reduction techniques

G
G
1  GH
H

A B B A
E  R mB E  R mCH
C  E (G) E
C
G
B  C(H )
C
 R mCH
G
1 
C H  R
G 
1  GH 
C  R
 G 
C G

R 1  GH
•

C (s) G (s)

R( s) 1  G ( s) H ( s)

1  G( s ) H ( s )  0
 B( s )
 G( s ) H ( s )
E( s )
C( s )
 G( s )
E( s )
C( s ) G( s ) G(s )

R( s ) 1  G( s )H ( s )

B( s ) G( s ) H ( s )

R( s ) 1  G( s )H ( s )

E( s ) 1 H (s )

R( s ) 1  G( s )H ( s )
C( s ) G( s )

R( s ) 1  G( s )H ( s )

1  G( s ) H ( s )  0
◦

K
s 1
 K
s 1

K
 s 1
G
1  GH K
1 s
s 1
 B( s )
 G( s ) H ( s )
E( s )
C( s )
 G( s )
E( s )
G(s )
C( s ) G( s )

R( s ) 1  G( s )H ( s )

B( s ) G( s ) H ( s )

R( s ) 1  G( s )H ( s )
H (s )
E( s ) 1

R( s ) 1  G( s )H ( s )

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

1  G( s ) H ( s )  0
 H2

R C
G1 G2 G3

H1
 H2
G1
R C
G1 G2 G3

H1
 H2
G1
R C
G1G2 G3

H1
 H2
G1
R C
G1G2 G3

H1
 H2
G1
R G1G2 C
G3
1  G1G2 H1
 H2
G1
R G1G2G3 C
1  G1G2 H1
R G1G2G3 C
1  G1G2 H1  G2G3 H 2
 Example-5
Find the transfer function of the following block diagrams

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

H3

H2

H1
 Example-5
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
 Example-5
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 III
G2G3G4 H 2  G4 H1
1  G3G4 H 4  G2G3 H 3 G4
 Example-5

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
 H2
B
G2G3
B
G2 G3
H1
 H2
1 G3
H1 G3
 II
R (s ) G2G3 Y (s )
G1
1  G2 H1  G2G3 H 2

H1
G3

G4
 Example - 7
Eliminate loop II

R (s ) G1G2G3 Y (s )
1  G2 H1  G2G3 H 2  G1G2 H1

G4

Y ( s) G1G2G3
T ( s)   G4 
R( s ) 1  G2 H1  G2G3 H 2  G1G2 H1
Example-8
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•
y  ax

•
a y
x

•
•

•
•
Y1( s ) G11( s )  R1( s )  G12( s )  R2( s )

Y2( s ) G21( s )  R1( s )  G22( s )  R2( s )

a11 x1  a12 x2  r1 x1

a21 x1  a22 x2  r2 x2
x1  ax0  bx1  cx 2

x 2  dx1  ex 3

x 3  fx0  gx 2

x4  hx 3
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•
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•
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•
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•
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•

•
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n
 Pi  i
C( s ) i 1

R( s ) 
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• 0
 n
 Pi  i
C( s ) i 1

R( s ) 

Δ
Δ
Δ
Δ Δ
 C P11  P2  2

R 

L1  G1G4 H 1 , L2  G1G2 G4 H 2 , L3  G1G3G4 H 2

  1  L1  L2  L3 

  1  G1G4 H 1  G1G2 G4 H 2  G1G3G4 H 2 

 3
 Pi  i
C( s ) i 1 P11  P2  2  P3  3
 
R( s )  
P3  A42 A54 A65 A76

P1  A32 A43 A54 A65 A76 P2  A72

L1  A32 A23
L5  A76 A67
L2  A43 A34 L9  A72 A57 A45 A34 A23
L6  A77
L3  A54 A45 L10  A72 A67 A56 A45 A34 A23
L7  A42 A34 A23
L4  A65 A56
L8  A65 A76 A67
L1 L3 L2 L4 L3 L5 L4 L6 L5 L7 L7 L8
L2 L5 L3 L6 L4 L7
L1 L4
L1 L5 L2 L6

L1 L6 L2 L8
☺
L1 L8
 －
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－
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 －

  1  (G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1 )

P1  G1G2G3G4 ; 1  1

C ( s) G1G2G3G4
G 
R( s ) 1  G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1
 －
－

－ －