3 | Feedback Control System i

PREFACE

A control system may consist of a number of components. To show the functions

performed by each component, in control engineering, we commonly use a diagram
called the block diagram. This learning packet first explains what a block diagram is.
Next, it discusses introductory aspects of automatic control systems, including various
control actions. Then, it presents a method for obtaining block diagrams for physical
systems, and, finally, discusses techniques to simplify such diagrams.
 3 | Feedback Control System 1

UNIT 3: BLOCK DIAGRAM AND DESIGN OF FEEDBACK

SYSTEM

3.0 Intended Learning Outcomes

a. Reduce a block diagram of multiple subsystems to a single block representing

the transfer function from input to output.
b. Analyze and design transient response for a system consisting of multiple sub-
systems.

3.1. Introduction

We have been working with individual subsystems represented by a block with

its input and output. More complicated systems, however, are represented by the
interconnection of many subsystems. Since the response of a single transfer function can
be calculated, we want to represent multiple subsystems as a single transfer function.
We can then apply the analytical techniques of the previous chapters and obtain
transient response information about the entire system.

3.2 Topics/Discussion (with Assessment/Activities)

3.2.1 Block Diagram

A subsystem is represented as a block with an input, an output, and a transfer

function. Many system are composed of multiple subsystem, as in Figure 3.1 below.
When multiple subsystem are interconnected, a few more schematic elements must be
added to the block diagram. These new elements are summing junction and pickoff points.
All components parts of a block diagram for a linear time invariant system are shown in
Figure 3.2. The characteristics of the summing junction shown in Figure 3.2c is the
output signal, C(s), is the algebraic sum of the input signal, 𝑅1 (𝑠), 𝑅2 (𝑠), 𝑎𝑛𝑑 𝑅3 (𝑠). The
figure shows three input, but any but any number can be present. A pickoff point, as
shown distributes the input signal, R(s) undiminished, to several output points.
 3 | Feedback Control System 2

Figure 3.1 The space shuttle consists of multiple subsystems.

Figure 3.2. Components of a block diagram for a linear, time-invariant system.

Figure 3.2a shows an example of cascaded subsystem. Intermediate signal

values are shown at the output of each subsystem. Each Signal is derived from the
product of the input times the transfer function. the Equivalent transfer function 𝐺𝑒 (𝑠)
shown in Figure 3.2b, is the output laplace transform divide by the input laplace
transform from Figure 3.2a

𝐺𝑒 (𝑠) = 𝐺3 (𝑠)𝐺2 (𝑠)𝐺1 (𝑠) (1)

which is the product of subsystem transfer function.

 3 | Feedback Control System 3

Figure 3.3 a. Cascaded subsystems; b. equivalent transfer function

Equation 1 was derived under the assumption that interconnected subsystems do not
load adjacent subsystem. That is a, subsystem output remains the same whether or not
the subsequent subsystem is connected. If there a change in output, the subsequent
subsystem loads the previous subsystem, and the equivalent transfer function is not the
product of the individual transfer function. The network of Figure 3.4(a) demonstrate
this concept. Its transfer function is.

Loads in cascaded systems

 3 | Feedback Control System 4

Feedback Form - the third topology is the feedback form, which will be seen repeatedly
in subsequent chapter. The feedback system forms the basis for our study of control
system engineering.

Let us derive the transfer function that represent the system form its input to its output.
The typical feedback system is shown in Figure 3.5a: a simplified model is shown in
Figure 3.5b. Directing our attention to the simplified model.

𝐸(𝑠) = 𝑅(𝑠) ∓ 𝐶(𝑠)𝐻(𝑠) (1)

But since 𝐶(𝑠) = 𝐸(𝑠)𝐺(𝑠)
𝐶(𝑠)
𝐸(𝑠) = (2)
𝐺(𝑠)

Substituting Eq. 2 into Eq. 1 and solving for the transfer function, C(s),’ R(s) = 𝐺𝑒 (𝑠), we
obtain the equivalent, or closed-loop, transfer function shown in Figure 3.5c.

𝐺(𝑠)
𝐺𝑒 (𝑠) = (3)
1±𝐺(𝑠)𝐻(𝑠)

The product. G(s)H(s) in Eq. 3 is called open-loop transfer function or loop gain.

Feedback Control System

 3 | Feedback Control System 5

Equivalent Transfer Function

Figure 3.5 a. Feedback control system; b. simplified model; c. equivalent transfer function

Moving Blocks to Create Familiar Form

Before we begin to reduce block diagrams, it must be explained that the familiar
forms (cascade, parallel, and feedback) are not always apparent in a block diagram. For
example, in the feedback form, if there is a pickoff point after the summing junction,
you cannot use the feedback formula to reduce the feedback system to a single block.
That signal disappears, and there is no place to reestablish the pickoff point.
The Figure 3.6a below shows equivalent block diagrams formed when transfer function
are moved left or right past a summing junction. Figure 3.6b shows equivalent block
diagrams formed when transfer function are moved left or right past a.
 3 | Feedback Control System
6

Figure 1
Block diagram algebra for summing junction-equivalent forms for moving a block
(a). to the left past a block
(b). to the right past a summing junction

Figure 2
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
 3 | Feedback Control System
7

Pickoff point. In the diagrams the symbol ≡ means “equivalent to” these equivalences,
along with the forms studied earlier in this section, can be used to reduce a block
diagram to a single transfer function.

Example 1

Block Diagram reduction via familiar forms

Problem Reduce the block diagram shown below to a single transfer function.

Solution: we solve the problem by following the steps in figurer below First , the three
summing junction can be collapsed into a single summing junction, as shown below.
Second, recognize that the three feedback function, 𝐻1 (𝑠), 𝐻2 (𝑠), 𝑎𝑛𝑑 𝐻3 (𝑠). Are
connected in parallel. They are fed from a common signal source, and their output are
summed. The equivalent function is 𝐻1 (𝑠) − 𝐻2 (𝑠) + 𝐻3 (𝑠). Also recognize that
𝐺2 (𝑠) 𝑎𝑛𝑑 𝐺3 (𝑠) are connected in cascade. Thus, the equivalent transfer function is the
product. 𝐺3 (𝑠)𝐺2 (𝑠). The results of these steps are shown below.
 3 | Feedback Control System
8

Example 2
Problem Reduce the system shown below to a single transfer function.

Solution in this example we make use of the equivalent forms shown in Figure 1 and 2
first, move 𝐺2 (𝑠) to the left past the pickoff point to create parallel subsystem, and
reduce the feedback system consisting of 𝐺3 (𝑠) 𝑎𝑛𝑑 𝐻3 (𝑠). Thus result shown below.
Second reduce the parallel pair consisting of 1 𝐺2 (𝑠) and unity, and push 𝐺1 (𝑠) to the
right past the summing junction, creating parallel subsystem in the feedback. These
result are shown in below.
 3 | Feedback Control System
9

Exercises

1. Reduce the block diagram shown to a single transfer function 𝑇(𝑠) = 𝐶(𝑠)/𝑅(𝑠)
 3 | Feedback Control System 10

2. Find the equivalent transfer function, 𝑇(𝑠) = 𝐶(𝑠)/𝑅(𝑠), for the system shown.

3. Reduce the system shown to a single transfer function, 𝑇(𝑠) = 𝐶(𝑠)/𝑅(𝑠).

4. Reduce the block diagram shown to a single block, 𝑇(𝑠) = 𝐶(𝑠)/𝑅(𝑠).

 3 | Feedback Control System 11

5. Given the block diagram of a system shown, find the transfer function. 𝐺(𝑠) =
𝜃22 (𝑠)/𝜃11 (𝑠).
 3 | Feedback Control System 12

3.3 References

Nise, N. (2011). Control System Engineering (e-book). 6th Edition. John Wiley and
Sons, Inc.

Ogata, K. (2002). Modern Control Engineering (e-book). 4th Edition. Prentice-Hall,

Inc.

3.4 Acknowledgment

The images, tables, figures and information contained in this module were
taken from the references cited above.