UNIVERSITY OF SOUTHERN MINDANAO

Feedback and Control

Systems
(CpE 315)
Prepared by:
JEANNALEN P. LUNOD
Department of Computer Engineering
 Topic Outline
• Transfer Function
• Definition
• Common Topologies for Interconnecting
Subsystems
• Moving Blocks to Create Familiar Forms

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 Intended Learning Outcomes
• ILO1: define transfer function
• ILO2: define the component parts of block
diagram
• ILO3: describe the different topologies for
interconnecting subsystems
• ILO4: list the Common topologies for
interconnecting subsystems

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TRANSFER FUNCTION

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 Definition
• algebraically relates a system’s output to its
input.
• allow separation of the input, system and
output into 3 separate and distinct parts.
• allow us to algebraically combine
mathematical representations of
subsystems to yield a total system
representation.

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• We call this ratio, the transfer function.

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• Block diagram:

• Result of transfer function is used to find the

response of the system

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 Block Diagrams
• A subsystem is represented as a block with
an input, an output and a transfer function.
• Many systems are composed of multiple
subsystems
• reduce a block diagram of multiple
subsystems to a single block representing
the transfer function from input to output

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Component parts of a block diagram
for linear, time-invariant system

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- the output signal is the algebraic sum of
input signals

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- distributes the input signal undiminished to
several output points

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Common Topologies
for Interconnecting
Subsystems

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 1. Cascade form
• transfer functions connected in series are
combined by multiplication
• Ex: cascaded subsystems

• Equivalent transfer function

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 2. Parallel form
• Parallel subsystems have a common input
and an output formed by the algebraic sum
of the outputs from all of the subsystem
• Ex:

• Equivalent transfer function

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 3. Feedback form
• Ex: Block diagram of a feedback system
(negative feedback; closed-loop)

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• Finding the overall transfer function of a
feedback system
• Derivation:
𝐶 𝑠 = 𝐺 𝑠 𝐸(𝑠) eq. 1.1
𝐵 𝑠 = 𝐻 𝑠 𝐶(𝑠) eq. 1.2
𝐸 𝑠 = 𝑅 𝑠 − 𝐵(𝑠) eq. 1.3

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• Use eq. 1.2 in eq. 1.3
𝐸 𝑠 = 𝑅 𝑠 − 𝐻 𝑠 𝐶(𝑠) eq. 1.4
• Use eq. 1.4 in eq. 1.1
𝐶 𝑠 = 𝐺 𝑠 [𝑅 𝑠 − 𝐻 𝑠 𝐶 𝑠 ]
𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 − 𝐺 𝑠 𝐻 𝑠 𝐶(𝑠)
𝐶 𝑠 + 𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅(𝑠)
1 + 𝐺 𝑠 𝐻 𝑠 𝐶 𝑠 = 𝐺 𝑠 𝑅(𝑠)
𝑪(𝒔) 𝑮(𝒔)
=
𝑹(𝒔) 𝟏+𝑮 𝒔 𝑯(𝒔)

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Moving Blocks to
Create Familiar Forms

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 Familiar forms: cascade,
parallel, feedback
• For summing junctions:
equivalent form for moving a block
a) to the left past a summing junction

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b) to the right past a summing junction

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• For pick-off points:
equivalent form for moving a block
a) to the left past a pick-off point

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b) to the right past a pick-off point

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 Summary
• Transfer function algebraically relates a
system’s output to its input.
• A subsystem is represented as a block with
an input, an output and a transfer function.
• Component parts of a block diagram for
linear, time-invariant system include:
signals, system, summing junction and pick-
off point

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• Common topologies for interconnecting
subsystems are cascade, parallel, and
feedback forms.
• Transfer functions connected in series are
combined by multiplication.
• Parallel subsystems have a common input
and an output formed by the algebraic sum
of the outputs from all of the subsystems.

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• Blocks can be moved to create familiar
forms.
• Blocks can be moved to the left or right past
a summing junction.
• Blocks can also be moved to the left or right
past a pick-off point.

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 References
• Ghosh, S. (2007). Control Systems: Theory &
Applications. Canada: Pearson Education.
• Manke, B. S. (2005). Linear Control Systems
with MATLAB Applications. India: Khanna
• Nise, N. S. (2008). Control Systems
Engineering (5th ed.). New Jersey: John
Wiley & Sons, Inc.

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