Block Diagram Algebra

Introduction
A graphical tool can help us to visualize the model of
a system and evaluate the mathematical
relationships between their elements, using their
transfer functions.

Using block diagram, we can solve the equations by

graphical simplification, which is often easier and
more informative than algebraic manipulation, even
though the methods are in every way equivalent
Reminder: Component Block
Diagram
 Block Diagram

• It represents the mathematical relationships between the

elements of the system.

U1 (s) G1 (s)  Y1 (s)

• The transfer function of each component is placed in box,
and the input-output relationships between components
are indicated by lines and arrows.
 Three basic forms
cascade parallel feedback

G1 G1
G1 G2
G2 G2

G1
G1 G2 G1 G2
1+ G1 G2
 Block diagram transformations

1. Moving a summing point to be:

behind a block
x1 y
x1 y
G G
± ±
x2 x2
G

Ahead a block
x1 y x1 y
G G
±
±
x2 1/G x2
2. Moving a pickoff point to be:

behind a block

x1 y x1 y
G G
x2 x2
1/G

ahead a block

x1 y x1 y
G G
x2
x2 G
3. Interchanging
Summing points
x3 x3
x1 ＋ y
x1 ＋
y
－
－
x2 x2
 Single loop negative
feedback
Y (s)  R(s)  Y (s)  G2   G1

Y (s)  G1R(s)  G1G2Y (s)

Y (s) 1  G1G2   G1R(s)

Y ( s) G1

R( s) 1  G1G2
Negative
feedback
Y ( s)

G1
R( s) 1  G1G2
What about single loop with
positive feedback? ?
 block diagram: reduction example
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 block diagram: reduction example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 block diagram: reduction example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 block diagram: reduction example
H2
G1
R _ G1G2 C
+_ + G3
1  G1G2 H1
 block diagram: reduction example
H2
G1
R _ G1G2G3 C
+_ +
1  G1G2 H1
 block diagram: reduction example

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2
 block diagram: reduction example

R G1G2G3 C
1  G1G2 H1  G2G3 H 2  G1G2G3
Example:
Find the transfer function of the system shown below.
Transfer Function from Block
Diagram

G1G2
Y (s) 1G1G3  G6 
T ( s)     G5 
R( s ) 1  G1G2G4
1G1G3  G2 
G1G2G5  G1G6

1  G1G3  G1G2G4
Example:
Find the transfer function of the system shown below.
Transfer Function from Block
Diagram

G1G2
Y (s) 1G1G3  G6 
T ( s)     G5 
R( s ) 1  G1G2G4
1G1G3  G2 
G1G2G5  G1G6

1  G1G3  G1G2G4
Moving pickoff point
H2

G1 G2 G3 G4

H3
H1

1
H2 G4

G1 G2 G3 G4
a b

H3
H1
Example: MISO
Find the response of the system Y(s) to simultaneous application of
the reference input R(s) and disturbance D(s).

When D(s)  0,
YR ( s) G1G2

R( s) 1  G1G2 H
When R(s)  0, ?
YD ( s) G2 G2
 
D( s) 1  (G1 )G2 H 1  G1G2 H
 Example MISO
Y (s)  YR (s)  YD (s)
G1G2 G2
Y ( s)  R( s )  D( s )
1  G1G2 H 1  G1G2 H
G2
Y ( s)   G1R(s)  D(s) 
1  G1G2 H