6th Lecture Automatic Control I Dr.

Qasim Abbas

Block Diagram Reduction:

Block diagram is a technique used to give a perspective view of the functioning of a
system, showing an overall picture of the interconnections among various components
and subsystems by the direction of signal flow, which is not available from a purely
abstract mathematical representation. In control system the transfer function concept is
very important; as it describes the input-output relationships of components and
subsystems. The transfer function is a mathematical model; it does not give any
information about the physical nature of the actual system. However, by knowing the
transfer function, the response of the system when subjected to various inputs can be
thoroughly investigated. Summing Forward Path
point Take-off
R(s) + E(s) point C(s)
G(s)
-

B(s)

H(s)

Feedback Path
Block diagram of a closed-loop system
Referring to the above figure, it can be found that
𝐶(𝑠)
𝑂𝑝𝑒𝑛 𝑙𝑜𝑜𝑝 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = 𝐺(𝑠) = … … … … … … . (1)
𝐸(𝑠)
However, to find the closed-loop transfer function for the above figure the output
C(s) and input R(s) are related as follows:
𝐶 (𝑠 ) = 𝐺 (𝑠 )𝐸 (𝑠 ) … … … … … … … … . (2)
𝐵 (𝑠 ) = 𝐻 (𝑠 ) 𝐶 (𝑠 ) … … … … … … … … . (3)
𝐸 (𝑠) = 𝑅(𝑠) − 𝐵(𝑠) … … … … … … … (4)
By substituting equation (3) and (4) in equation (2):
𝐶 (𝑠) = 𝐺 (𝑠)[𝑅(𝑠) − 𝐻 (𝑠)𝐶 (𝑠)]
𝐶 (𝑠) = 𝐺 (𝑠)𝑅(𝑠) − 𝐺 (𝑠)𝐻 (𝑠)𝐶(𝑠)
𝐶 (𝑠){1 + 𝐺 (𝑠)𝐻 (𝑠)} = 𝐺 (𝑠)𝑅(𝑠)
𝐶(𝑠) 𝐺(𝑠)
∴ 𝐶𝑙𝑜𝑠𝑒𝑑 𝑙𝑜𝑜𝑝 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = =
𝑅(𝑠) 1 + 𝐺(𝑠)𝐻(𝑠)
Page [1-5]
6th Lecture Automatic Control I Dr. Qasim Abbas

Table: Rules for Block Diagram Reduction

no. Transformation Original Diagram Equivalent Diagram
Combining blocks in X
1 X G1 X G1G2X G1G2X
series G1 G2 G1G2

Combining blocks in X )G1+G2)X

G1 X )G1+G2)X
2 + G1+G2
parallel X G
2

Moving a comparator
3
after a block

Moving a comparator
4
before a block

Moving a take-off
5
point after a block

Moving a take-off
6
point before a block

Eliminating a
7
feedback loop

combining of
8
comparators

+ R +B R +B _C + R_ C R +B _C
Changing between R R
9 + _ _ +
comparators
B C C B

Note: The comparator cannot jump over a take-off point and the opposite is true.

Page [2-5]
6th Lecture Automatic Control I Dr. Qasim Abbas

Example (1): Reduce the block diagram shown below and obtain C(S)/R(S).

G5 H4
+ -
R(S) + + + C(S)
G1 G2 G3 G4
- - -

H3 H2 H1

Solution:
𝑯𝟒
𝑮𝟒

-
R(S) + + + C(S)
G1+G5 G2 𝑮𝟑 𝑮𝟒
- - -

H1
H1H2
H1H2H3

𝑯𝟒
𝑮𝟒

R(S) + + - C(S)
+ 𝑮𝟐 𝑮𝟑 𝑮𝟒
G1+G5
- - 𝟏 + 𝑮𝟑 𝑮𝟒 𝑯𝟏

H1H2
H1H2H3

R(S) + 𝑮 𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑮𝟓 C(S)
- 𝟏 + 𝑮𝟑 𝑮𝟒 𝑯𝟏 + 𝑮𝟐 𝑮𝟑 𝑯𝟒 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐
-
H1H2H3

R(S)
𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑮𝟓 C(S)
𝟏 + 𝑮𝟑 𝑮𝟒 𝑯𝟏 + 𝑮𝟐 𝑮𝟑 𝑯𝟒 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐 + 𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐 𝑯𝟑 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑮𝟓 𝑯𝟏 𝑯𝟐 𝑯𝟑

Page [3-5]
6th Lecture Automatic Control I Dr. Qasim Abbas

Example (2): Reduce the block diagram shown below and obtain C(S)/R(S).

H6 H5 H4

R(S) +
- - -
+ + C(S)
G1 G2 G3 G4
- - -

H3 H2 H1

Solution:
H4H5H6

H4H5

H4
-
R(S) - - C(S)
+ G1 + G2 + G3 G4
- - -
H1

H1H2
H1H2H3

𝑯𝟒 𝑯𝟓 𝑯𝟔
𝑮𝟒

𝑯𝟒 𝑯𝟓
𝑮𝟒

R(S) - + - C(S)
+ + + 𝑮𝟑 𝑮𝟒
G1 G2
- - 𝟏 + 𝑮𝟑 𝑯𝟒
-

H1
H1H2
H1H2H3

Page [4-5]
6th Lecture Automatic Control I Dr. Qasim Abbas

𝑯𝟒 𝑯𝟓 𝑯𝟔
𝑮𝟒
𝑯𝟒 𝑯𝟓
𝑮𝟒

- + - C(S)
R(S) + 𝑮𝟐 𝑮𝟑 𝑮𝟒
G1 +
- - 𝟏 + 𝑮𝟑 𝑯𝟒 + 𝑮𝟑 𝑮𝟒 𝑯𝟏

H1H2
H1H2H3

𝑯 𝟒 𝑯𝟓 𝑯𝟔
𝑮𝟒
-
R(S) + 𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒 C(S)
- 𝟏 + 𝑮𝟑 𝑯𝟒 + 𝑮𝟑 𝑮𝟒 𝑯𝟏 + 𝑮𝟐 𝑮𝟑 𝑯𝟒 𝑯𝟓 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐

H1H2H3

R(S) C(S)
𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒
𝟏 + 𝑮𝟑 𝑯𝟒 + 𝑮𝟑 𝑮𝟒 𝑯𝟏 + 𝑮𝟐 𝑮𝟑 𝑯𝟒 𝑯𝟓 + 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐 + 𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑮𝟒 𝑯𝟏 𝑯𝟐 𝑯𝟑 + 𝑮𝟏 𝑮𝟐 𝑮𝟑 𝑯𝟒 𝑯𝟓 𝑯𝟔

Page [5-5]