ME 304

CONTROL SYSTEMS
Radar Dish Mechanical Engineering Department,
Middle East Technical University

Armature Inside
controlled Outside θr input
dc motor θD output

θm

G
Gearbox
b
Control
Transmitter

θD

dc amplifier Control
Transformer P f Dr.
Prof. D Y
Y. S
Samim
i ÜÜnlüsoy
lü
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 1
 CH II
COURSE OUTLINE
I. INTRODUCTION & BASIC CONCEPTS

II. MODELING DYNAMIC SYSTEMS

III. CONTROL SYSTEM COMPONENTS
IV. STABILITY
V. TRANSIENT RESPONSE
VI. STEADY STATE RESPONSE
VII. DISTURBANCE REJECTION
VIII. BASIC CONTROL ACTIONS & CONTROLLERS
IX. FREQUENCY RESPONSE ANALYSIS
X. SENSITIVITY ANALYSIS
XI. ROOT LOCUS ANALYSIS

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 2

 MODELING DYNAMIC SYSTEMS
Completed ! OBJECTIVES
„ Deriving input
input--output relations of
linear time invariant systems
(mechanical,, fluid,, thermal,, and
(
electrical) using elemental and
structural equations. We are
h
here !
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems with
block diagrams.
g
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 3
 TRANSFER FUNCTIONS
„ For the analysis of LTI systems, the
input--output relationships are usually
input
represented by a Transfer Function
defined as :
Laplace Transform
f off Output
O
G(s) =
Laplace Transform of Input zero initial conditions

Time Domain Laplace Domain

y(t) LTI x(t) Y(s) X(s)
G(s)
( )
I
Input S stem
System Output Input Output

• s : Laplace variable.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 4

 TRANSFER FUNCTIONS
„ Laplace Transform
• Transformation from time to Laplace
domain.

L [ f (t)] = F(s) = ∫0∞ f (t)e− st dt

• s : Laplace variable.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 5

 d2x dx dy
m
dt 2
+c
dt
+ kx = c
dt
+ ky
TRANSFER
a2 a1 a0 b1 b0 FUNCTIONS
„ Let us consider the differential equation
of a general
gene al LTI system,
s stem relating
elating the input
inp t
and the output, of the general form :

dn x dn − 1 x dx dm y dm − 1 y dy
an + an − 1 + ... + a1 + a 0 x = bm + bm − 1 + ... + b1 + b0 y
n n −1 dt m m −1 dt
dt dt dt dt

• x : output,
• y : input, and
• n : order of the system and n ≥ m for
physically realizable systems.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 6

 TRANSFER FUNCTIONS
„ The transfer function will then be g
given as :

Laplace Transform of Output

G(s) =
Laplace Transform of Input zero initial conditions

L { x(t)} ( )
X(s)
G( ) =
G(s) =
L { y(t)} Y(s)
zero initial conditions

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 7

 TRANSFER FUNCTIONS
„ Remember that : Initial
Conditions
⎧⎪ dn ⎫⎪ n n k −1
d
L⎨ f ( t ) ⎬ = s F ( s ) − ∑ sn − k f ( 0)
n k −1
⎪⎩ dt ⎪⎭ k =1 dt

„ Thus for n=1 and 2 :

⎛ d2 ⎞
⎛ d ⎞
L ⎜ f (t) ⎟ = sF(s) − f (0) L⎜ f (t) ⎟ = s 2 F(s) − sf (0) − f (0)
⎜ dt 2 ⎟
⎝ dt ⎠ ⎝ ⎠
„ With zero initial conditions :
⎛ d ⎞ ⎛ d2 ⎞
L ⎜ f (t) ⎟ = sF(s) L⎜ f (t) ⎟ = s 2 F(s)
⎝ dt ⎠ ⎜ dt 2 ⎟
⎝ ⎠
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 8
 TRANSFER FUNCTIONS
dn x dn − 1 x dx dm y dm − 1 y dy
an + an − 1 + ... + a1 + a 0 x = bm + bm − 1 + ... + b1 + b0 y
n n −1 dt m m −1 dt
dt dt dt dt

„ Taking the Laplace transform of every

term :
an sn X(s) + an − 1sn − 1 X(s) + ... + a1sX(s) + a0 X(s) =
bm sm Y(s) + bm − 1sm − 1 Y(s) + ... + b1sY(s) + b0 Y(s)

taking into common parenthesis and

rearranging :

( ansn + an −1sn −1 + ... + a1s + a0 ) X(s) = ( bmsm + bm −1sm −1 + ... + b1s + b0 ) Y(s)
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 9
 TRANSFER FUNCTIONS
„ Finally, the transfer function is obtained.
m m −1
X(s) bm s + bm − 1s + ... + b1s + b0 N(s)
G(s) = = =
Y(s) n n − 1 D(s)
an s + an − 1 s + ... + a1s + a0

„ n : order of the system (n

(n ≥ m ),

„ D(s) : characteristic polynomial.

„ Characteristic equation : D(s)=0

D(s) = an sn + an − 1sn − 1 + ... + a1s + a0 = 0

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 10

 m m −1
X(s) bm s + bm − 1s + ... + b1s + b0 N(s)
G(s) = = =
Y(s) n
a n s + an − 1 s n −1
+ ... + a1s + a0 D(s) TRANSFER
FUNCTIONS
„ The roots of the numerator p
polynomial
polynomial,
y , i.e.

N(s) = bm sm + bm − 1sm − 1 + ... + b1s + b0 = 0

are called the zeroes of the system.

„ The roots of the denominator polynomial

( ) = an sn + an − 1sn − 1 + ... + a1s + a0 = 0

D(s)

are called the poles of the system.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 11

 TRANSFER FUNCTIONS
Note that :
• Transfer function is a property of a
system and is independent of the input.
• Transfer functions of physically different
systems may be identical.
• If the transfer function of a system is
known its dynamic response to various
known,
different inputs can be studied.
• Transfer function of a system
y can be
experimentally determined by applying
known inputs and examining the
g input-
resulting input
p -output
p relationships.
p
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 12
k b
EXAMPLE 1
y „ Take the Laplace
m
transform ( (with
with zero
F initial conditions)
conditions) of
every term.
fk = ky fb = by L {my} = ms 2 Y(s) L {by} = bsY(s)

fn = my m
y
( )
ms 2 + bs + k Y(s) = F(s)

„ The transfer function is

F
given by :
my + by + ky = F Y(s) 1
G(s) = =
F(s) ms 2 + bs + k
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 13
 F+mg yst
F NOTE
m
m mg
y st = y1 = y st + y 2
k
k y1
b k y2 b 1 + ky
my1 + by k 1 = F + mg
b
y1 = y st + y 2 y1 = y 2
Undeformed Equilibrium y1 = y 2
position position
my 2 + by 2 + k ( y 2 + y st ) = F + mg
my1 + by1 + ky1 = F + mg
⎛ mg ⎞
my 2 + by 2 + ky 2 = F my 2 + by 2 + k ⎜ y 2 + ⎟ = F + mg
⎝ k ⎠

„ If the displacement is measured from the

static equilibrium position,
position, gravity force mg
can be neglected, since it is balanced by a
force kyst in the spring.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 14
 N 2 θ1
Motor n= =
N1 θ2

Ν Load EXAMPLE – 2
1
J1
bt
T(t) θ1 1
J2
( ) ( )
n 2 J1 + J 2 θ 2 + n 2 bt1 + bt2 θ2 = nT(t)
Ν bt
2 θ2 2
„ T k th
Take the Laplace
L l transform
t f off all
ll the
th terms.
t

⎢⎣( 1 2 ) (
⎡ n 2 J + J s 2 + n 2b + b s ⎤ Θ ((s)) = nT(s)
t1 t2 ⎥⎦ 2 () )
„ Obtain the transfer function.
Θ 2 (s)
() n
G(s) = =
T(s)
(
n 2 J1 + J 2 s 2 + n 2bt1 + bt2 s ) ( )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 15
 Qi EXAMPLE 3
⎛ A ⎞⎡ dQo ⎛ ρL ⎞ d 2 Qo ⎤
g ρ g
⎝ ⎠ ⎢⎣
(
Q i - Qo = ⎜ ⎟ ⎢ R v + R p
dt
+⎜
⎝ a ⎟) 2
⎠ dt ⎥⎦
⎥
H
p1 Q L
Long pipe
i p2
R Qo
L
„ Take the Laplace transform of all the terms.
⎛ A ⎞⎡ ⎛ ρL ⎞ 2 ⎤
⎝ ⎠⎣g
( )
Qi (s) - Qo (s) = ⎜ ⎟ ⎢ R v + R p sQo (s) + ⎜
ρ ⎝ a ⎟ s Qo (s)⎥
⎠ ⎦
„ Obtain the transfer function.
Q (s) 1
G(s) = o =
Qi (s) ⎛ A ⎞ ⎡⎛ ρL ⎞ 2 ρg ⎤
⎜ ⎟ ⎢⎜
ρg
⎝ ⎠ ⎣⎝ a ⎟ s + R v + Rp s + A ⎥
⎠ ⎦
( )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 16
 EXAMPLE 4
Tf
h dTs
Ts mcp + hATs = hATf
dt

„ Take the Laplace

p transform of all the terms.

mcp sTs (s) + hATs (s) = hATf (s)

„ Obtain the Laplace transform.

Ts (s) hA
G(s) = =
Tf (s) mcp s + hA

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 17

 iR iC iL
i(t) R L e EXAMPLE 5
C

„ Determine the transfer function.

d2e de di(t)
RCL + L + Re = RL
2 dt dt
dt

E(s) RLs
G(s) = =
I( ) RCLs 2 + Ls + R
I(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 18

 MULTI-INPUT MULTI-
MULTI- MULTI-OUTPUT
(MIMO)
( O) SYSTEMS
„ If a system has more than one input
and/or output :
Then there will be a transfer function
relating
g each output
p with each input,
p , when
all other inputs are assumed to be zero.

Xi (s) = G ij (s)Yj (s) i = 1,

1 22, ...,p
p j = 11, 22, ...,q
q

„ p: number of outputs,
„ q : number of inputs.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 19

 d 2 T2 dT2
( C1C2 R1 R 2 ) + ( C1 R1 + C2 R1 + C2 R 2 ) + T2 = R1qh + T0
dt 2 dt EXAMPLE 6
T0 R2

Room 2: C2 Room 1: C1 „ Note that in this

q10
T2 T1 case there are
q12
qh R1 two inputs !

Heater T2 (s) = G1 (s)Qh (s) + G 2 (s)To (s)

Qh(s)
G1(s)
Input T2(s)
To(s) Output
G2(s)
Input

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 20

 d 2 T2 dT2
( C1C2 R1 R 2 ) + ( C1 R1 + C2 R1 + C2 R 2 ) + T2 = R1qh + T0
dt 2 dt EXAMPLE 6
T0 R2
„ Note that in this
Room 2: C2 Room 1: C1
q10
case the
there
e are
a e
T2 q12
T1 two inputs !
qh R1

T2 (s) = G1 (s)Q h (s) + G 2 (s)T0 (s)

Heater

G1 (s) =
R1 „ Further,
h the
h
( C1C2 R1 R 2 ) s2 + ( C1 R1 + C2 R1 + C2 R 2 ) s + 1 denominator is
the same in both
1
G 2 (s) = transfer
( C1C2 R1 R 2 ) s2 + ( C1 R1 + C2 R1 + C2 R 2 ) s + 1
functions !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 21

 MODELING DYNAMIC SYSTEMS
OBJECTIVES Completed !

„ Deriving input
input--output relations of
linear time invariant systems
(mechanical,, fluid,, thermal,, and
(
electrical) using elemental and
structural equations.
„ Obtaining transfer function
representation of LTI systems.
„ Representing control systems with
block diagrams.
g We are
here !
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 22
 BLOCK DIAGRAMS
Nise Sections 5
5.1,
1 55.2
2

„ Block diagrams are schematic

representations of systems,
systems indicating
the function of each component and the
flow of signals between them.
„ A block diagram consists of three
elements.
• Blocks,
• Summing Points,
• Branch points.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 23

 BLOCK DIAGRAMS
„ Blocks
A block shows the operation
performed on the input signal to
produce the output
output, ii.e.
e the transfer
function, together with the input and
output signals.

Y(s) X(s)
G( )
G(s) X(s)= G(s)Y(s)
Input Output

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 24

 BLOCK DIAGRAMS
„ Summing points
These indicate a summing operation
involving two or more signals. The sign
at each arrow
arrow--head indicates either
summation or subtraction.

b
+
+
a a+b-c

- c

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 25

 BLOCK DIAGRAMS

„ Branch points
A signal is duplicated to go simultaneously
to two or more blocks at a branch point.

a
a
a
Branch
points

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 26

 BLOCK DIAGRAMS

„ Block Diagram of a Closed Loop System

R(s) + E(s) C(s)

G(s)
( )
-

B(s)
( )
H(s)

„ E( ) : E
E(s) Error signal,
i l G( ) : F
G(s) Feedforward
df d TF
TF,
„ B(s) : Feedback signal, H(s) : Feedback TF.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 27

 BLOCK DIAGRAMS
„ Open Loop Transfer Function of a Closed
Loop
p System
y

R(s) + E(s) C(s)

G(s)
-
Remove
B(s)
H(s)

R(s) ⇒ B(s) OpenLoop Transfer Function = G(s)H(s)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 28

 BLOCK DIAGRAMS
„ Block Diagram of a Closed Loop System

R(s) + E(s) C(s)

G(s)
-

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

C(s) = G(s)E(s) = G(s)R(s) − G(s)H(s)C(s)

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

C(s) G(s)
ClosedLoop Transfer Function = =
R(s) 1+ G(s)H(s)
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 29
 BLOCK DIAGRAMS
„ Block Diagram of a Unity Feedback System

R(s) + E(s) C(s)

G(s)
-

B(s)
E( ) = R(
E(s) R(s)) - B(
B(s)) = R(
R(s)) - C(
C(s))
C(s) = G(s)E(s) = G(s)R(s) - G(s)C(s) [1+ G(s)] C(s) = G(s)R(s)

C(s) G(s)
ClosedLoop Transfer Function = =
R(s)
( ) 1+ G(s)
( )
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 30
 BLOCK DIAGRAMS
„ Procedure for drawing block diagrams :
• W
Write
it down
d the
th elemental
l t l and
d
structural equations.
• Obtain the transfer function for each
element in the system using
elemental equations.
• Start with the system output and
work back; inserting blocks,
summing
i points,
i t andd branch
b h points
i t
towards the system input.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 31

 BLOCK DIAGRAMS
„ NOTE
• Use each elemental transfer function
only once.
once.
• Write
te elemental
e e e ta transfer
t a s e functions
u ct o s
such that terms containing s and its
powers are in the denominator
unless it is unavoidable.
unavoidable

A
2
As s2
NO ! YES !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 32

 BLOCK DIAGRAMS

„ WARNING
• Do not use overall transfer
functions or manipulated
equations in drawing the block
diagrams !
• You use the block diagrams
g to
obtain the overall transfer
functions not vice versa.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 33

 BLOCK DIAGRAMS - EXAMPLE
Piston-Cylinder
Actuator
g
C piston
vent
area, A
p2 f(t)
p1
R
R m
Q Q1
Q(t) viscous x
pump friction, b +

„ A positive displacement
reservoir pump isi a source (active
ti
element),
element ), flow rate Q(t) is
specified.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 34
 Valve BLOCK Piston+cylinder
x
p1 R
R p2 DIAGRAMS A
Q1 b
Q EXAMPLE
dx
p1 − p 2 = RQ Viscous friction fb = bx Q1 = A
dt
Piston+mass
Tank
p2A
f(t)
m
C
b
bx
x
Q p2 Q1
+
Mass
dp 2 dx d2 x
Q − Q1 = C fn = mx Ap 2 − b − f = m 2
dt dt dt

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 35

 BLOCK DIAGRAMS -
„ Inputs : Q(t),
Q(t) f(t) EXAMPLE
„ Output : x(t)
„ Equations : Laplace transforms :
• Valve : p1 − p 2 = RQ P1 (s) − P2 (s) = RQ(s)
• Actuator : dx
Q1 = A Q1 (s) = AsX(s)
dt
• Tank : dp 2
Q − Q1 = C Q(s) − Q1 (s) = CsP2 (s)
dt
• Mass : dx
d d2 x
Ap 2 − b −f = m AP2 (s) − bsX(s) − F(s) = ms 2 X(s)
dt dt 2

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 36

 „ Draw the block BLOCK DIAGRAMS -
diagram.
EXAMPLE
P1 (s) − P2 (s) = RQ(s) 4
Start with the equation
containing the highest
P1 (s)
( ) 1 derivative of the output.
output

+ + F(s) AP2 (s) − bsX(s) − F(s) = ms 2 X(s)

R

Fp (s) - ms 2 X(s) sX(s) X(s)

1 1 1
A s
Q(s) + Cs P2 (s) + ms
-
-
b
bx ⇒ bsX(s)
Q1 (s)
A
Q(s) − Q1 (s) = CsP2 (s) Q1 (s) = AsX(s)
2
3
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 37
 BLOCK DIAGRAMS - EXAMPLE
„ Block diagram.
• Can it be simplified ?
P1 (s)
( )

+ + F(s)
R

Fp (s) - s 2 X(s) sX(s) X(s)

1 1 1
A
Q(s) + Cs P2 (s) + ms s
-
- bsX(s)
b
Q1 (s)
A

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 38

AP2 (s) - bsX(s) - F(s) = ms2 X(s)
Q(s) - Q1(s) = CsP2 (s)
Q1(s) = AsX(s)
P1(s) - P2 (s) = RQ(s)
Q1 (s) = AsX(s)
BLOCK DIAGRAMS -
Not Used
d! EXAMPLE
„ To find the overall transfer
function,, eliminate all
function
variables except the inputs
Q(s), F(s) and the output X(s).

Q(s) − Q1 (s) = CsP2 (s) Q(s) − AsX(s) = CsP2 (s)

AP2 (s) − bsX(s) − F(s) = ms 2 X(s)

⎛ A2 ⎞ A
2
⎜ ms + bs + ⎟ X(s) = Q ( s ) - F(s)
⎜ C ⎟ Cs
⎝ ⎠

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 39

 BLOCK DIAGRAMS - EXAMPLE

„ Transfer Function Representation

⎛ 2 A2 ⎞ A
⎜ ms + bs + ⎟ X(s) = Q ( s ) − F(s)
⎜ C ⎟ Cs
⎝ ⎠

A
s C
( )=
X(s) Q (s) − F(s)
( )
( Cms 2
+ Cbs + A 2
) ( Cms 2
+ Cbs + A 2
)

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 40

 BLOCK DIAGRAM REDUCTION
Nise Section 5.2

„ A complicated block diagram can be

simplified down to a single block containing
the overall transfer function of the system.
„ This can be performed by manipulating
• the elements of the block diagram (Block
Diagram
g Algebra),
g ), or
• the equations for the blocks and
summing points to eliminate
intermediate variables.

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 41

 BLOCK DIAGRAM REDUCTION
Dorf&Bishop Example 2.7, Table 2.6
„ Block Diagram Algebra – some commonly used rules :

A AG1 AG1G2 A AG1G2

G1 G2 G1G2

A B
G1 A G1 B
+
∓ 1±G1G2
G2

A
G1 A B
+ G1 +G2
+
G2
B= ( G1 +G2 ) A

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 42

 BLOCK DIAGRAM REDUCTION - EXAMPLE

„ Simplify the block diagram to get TF.

G1
R + Q M - T C
1 G2 2 G3
- +
- S
H

R C
G

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 43

 BLOCK DIAGRAM REDUCTION - EXAMPLE

G1
R + Q M - T C
1 G2 2 G3
- +
- S
H

Not needed
G1
anymore !
G2
+ -
C
1 G2 2 G3
R -
-
H

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 44

 BLOCK DIAGRAM REDUCTION - EXAMPLE

G1
G2
+ -
C
1 G2 G3
R -
-
H

G1
G2
+ -
G2 C
1 G3
- 1 + G2H
R

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 45

 BLOCK DIAGRAM REDUCTION - EXAMPLE

G1
G2
+ -
G2 C
1 G3
1 + G2 H
R -

G 2G 3
R G 1 + G2 H C
1− 1 G 2G 3
G2 1+
1 + G2H

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 46

 BLOCK DIAGRAM REDUCTION - EXAMPLE

G 2G 3
R G1 1 + G2 H C
1− G 2G 3
G2 1+
1 + G2H

R G 3 ( G 2 − G1 ) C
1 + G 2G 3 + G 2 H

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 47

 BLOCK DIAGRAM REDUCTION - EXAMPLE

„ Alternative Approach to block diagram

simplification.
P
G1
R + Q M - T C P = G1 R
1 G2 2 G3
- + Q = R−S−C
- S
H
M = G 2Q

T= M−P
„ Eliminate intermediate Warning : T
S = HT
appears
variables M, P, Q, S, T twice on the
C = G3T
using the equations. right hand
side !

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 48

 BLOCK DIAGRAM REDUCTION - EXAMPLE
„ Start with T, which appears twice on the
right hand side and eliminate it first.
M = G 2Q P = G1 R Q = R − S − C S = HT

T= M−P T = G 2Q − G1 R T = G 2 ( R − S − C ) − G1 R

T = ( G 2 − G1 ) R − G 2 HT − G 2C

( 1 + G 2 H ) T = ( G 2 − G1 ) R − G 2C
Insert this ( G 2 − G1 ) G2
in the last T= R− C C = G3T
(1 + G2H ) (1 + G2H )
equation
equation.
ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 49
 BLOCK DIAGRAM REDUCTION - EXAMPLE
„ All the equations have been used.

C = G3T
( G 2 − G1 ) G2
T= R− C
(1 + G2H ) (1 + G2H )

G 3 ( G 2 − G1 ) G 2G 3
C= R− C
(1 + G2H ) (1 + G2H )

C G 3 ( G 2 − G1 ) ⎡ G 2G 3 ⎤ G 3 ( G 2 − G1 )
= ⎢1 + ⎥C = R
R ( 1 + G 2G 3 + G 2 H ) ⎢⎣ ( 1 + G 2 H ) ⎥⎦ (1 + G2H )

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 50

 READING
„ Nise
• Sections 2.1,, 2.2,, 2.3,, 5.1,, 5.2
„ Ogata
• Sections 2-
2-3,
3 2-
2-4,
4 4-
4-2,
2 4-
4-4,
4 4-
4-5,
5

ME 304 CONTROL SYSTEMS Prof. Dr. Y. Samim Ünlüsoy 51