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 Subsystems are represented in block diagrams as blocks,

each representing a transfer function.

Chapter 5  In this unit we will consider how to combine the blocks

corresponding to individual subsystems so that we can
represent a whole system as a single block, and therefore
a single transfer function.

The space shuttle consists of multiple subsystems. Can you identify those that
are control systems, or parts of control systems?

Here is an example of this reduction:

Reduced Form:

Introduction Introduction
 Block diagrams

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Introduction
 Signal flow graphs

Subsystem
 is represented as a block with an input, an output, and
a transfer function

Components of a block diagram

Summing Junction Pickoff Point

 the output signal, C(s), is the algebraic sum of the  distributes the input signal, R(s), undiminished, to
input signals, R1(s), R2(s), and R3(s) several output points

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Topologies Cascade Form

Forms in which blocks are typically connected: When multiple subsystems are connected such that the
output of one subsystem serves as the input to the next,
 Cascade Form these subsystems are said to be in cascade form.
 Parallel Form
 Feedback Form

Cascade Form

The algebraic form of the final output clearly shows the

equivalent system TF is the product of the cascaded
subsystem TF's.
ENGI 5821

Cascade Form

derived under the assumption that interconnected

subsystems do not load adjacent subsystems

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One way to prevent loading is to use an

amplifier between the two networks

The amplifier has a high-impedance input, so that With the amplifier included, the equivalent transfer
it does not load the previous network. At the same function is the product of the transfer functions and
the gain, K, of the amplifier.
time it has a low-impedance output, so that it
looks like a pure voltage source to the subsequent
network

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Parallel Form
 Parallel subsystems have a common input and an
output formed by the algebraic sum of the outputs
from all of the subsystems

The equivalent TF is the sum of parallel TF's

(with matched signs at summing junction).

Feedback Form Feedback Form

 Closed-loop system or feedback control system

Feedback Form Feedback Form

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We may need to move blocks either to the left or right of

a summing junction:
Moving Blocks
 A system's block diagram may require some modification
before the reductions discussed above can be applied.

Moving Blocks to Create Moving Blocks to Create

Familiar Forms Familiar Forms

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Moving Blocks to Create Moving Blocks to Create

Familiar Forms Familiar Forms

we may need to move blocks to the left or right of a pickoff

point.

Example: Block Diagram Reduction Example: Block Diagram Reduction

via Familiar Forms via Familiar Forms

Example: Block Diagram Reduction Example: Block Diagram Reduction

via Familiar Forms via Familiar Forms

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Example: Block Diagram Reduction Example:

via Familiar Forms Block Diagram Reduction by Moving Blocks
 Reduce the system shown in Figure 5.11 to a single
transfer function

Block Diagram Reduction by

Moving Blocks
+
+ + C(s)
G1 s  G2 s  G3 s 
R(s)

+- - -
H 2 s  H 3 s 

H1 s 

recall 1
G2 s 

+
+ + C(s)
G1 s  G2 s  G3 s 
R(s)

+- - -
H 2 s  H 3 s 

H1 s 

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recall
1
G2 s 
+
+ + C(s)
G1 s  G2 s  G3 s 
R(s)

+- - -
H 2 s  H 3 s 

H1 s 

1
G2 s 

+
+ + C(s) + C(s)
G1 s  G2 s  G3 s 
G1 s  G2 s  G3 s 
R(s) R(s) 1
1
1 G3 s H 3 s  G2  s  1 G3 s H 3 s 
+- - +- -
-
H 2 s  H 2 s 

H1 s  H1 s 

R(s) + G1 s G2 s 
1
1 G3 s 
C(s) R(s) + G1 s G2 s 
1
1 G3 s 
C(s)
G2  s  1 G3 s H 3 s  G2  s  1 G3 s H 3 s 
+- - -
H 2 s 
G1 s  H 2 s 
 H1 s 
G1 s 
H1 s 

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R(s) G1 s G2 s  1 G3 s 
C(s)
1
G1 s G2 s  1  G2 s H 2 s   G1 s G2 s H1 s  G2  s  1 G3 s H 3 s 

C(s)
R(s) G3 s 
 H s 
1
 1
1  G1 s G2 s  2  H1 s  G2  s  1 G3 s H 3 s 

 G1 s  

Seatwork

Answer

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