The Higher Institute of Engineering El-Shorouk City

Electrical Power and Machines Department

Automatic Control System (1)

EPM 252
Second Term – Second year
Lecture No. (4)

EPM 252, Automatic Control System (1)

Second Term – Second year, Lecture No. (4)
1
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Introduction d
x y
– A Block Diagram is a shorthand dt
pictorial representation of the
cause-and-effect relationship of a
system. 𝑦
𝑥 + +
𝑥+𝑦−𝑧
– For the operations of addition and −
subtraction the block becomes a 𝑧
small circle, called a summing point.
– In order to have the same signal or
variable be an input to more than
one block or summing point, a
takeoff point is used.

EPM 252, Automatic Control System (1) 2

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-1:
Consider the following equations in
which 𝑥1 , 𝑥2 , 𝑥3 , are variables, and
𝑎1 , 𝑎2 are general coefficients or
mathematical operators.
x3 = a1 x1 + a2 x2 − 5
▪ Example-2:
Draw the Block Diagrams of the
following equations. dx1 1
(1) x2 = a1 +  x1dt
dt b
d 2 x2 dx1
( 2) x3 = a1 +3 − bx1
dt 2 dt
EPM 252, Automatic Control System (1) 3
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Canonical Form of A Feedback Control System:

The control ratio is the closed loop transfer 𝐶(𝑠) 𝐺(𝑠)

=
function of the system. 𝑅(𝑠) 1 ± 𝐺(𝑠)𝐻(𝑠)
The denominator of closed loop transfer function
determines the characteristic equation of the
system.
Which is determined as: 1  G( s ) H ( s ) = 0
EPM 252, Automatic Control System (1) 4
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram G(s )

E (s)
▪ Example-3:
– Open loop transfer function G (s) H (s)

– Feed Forward Transfer function G (s )

H (s )
C( s ) G( s )
– control ratio =
R( s ) 1 + G( s )H ( s )
B( s ) G( s )H ( s )
– feedback ratio =
R( s ) 1 + G( s )H ( s )
E( s ) 1
– error ratio =
R( s ) 1 + G( s )H ( s )
C( s ) G( s )
– closed loop transfer function =
R( s ) 1 + G( s )H ( s )

– characteristic equation 1 + G( s ) H ( s ) = 0

– closed loop poles and zeros if K=10.

EPM 252, Automatic Control System (1) 5
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Reduction of Complicated Block Diagrams

– The block diagram of a practical control system is often quite
complicated.
– It may include several feedback or feedforward loops, and
multiple inputs.
– By means of systematic block diagram reduction, every multiple
loop linear feedback system may be reduced to canonical form.

EPM 252, Automatic Control System (1) 6

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Reduction Techniques
– Combining blocks in cascade
G1 G2 G1G2
– Combining blocks in parallel
G1
G1 + G2
G2
– Moving a summing point after block
G G
G
– Moving a summing point before block
G G
1
G

EPM 252, Automatic Control System (1) 7

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Reduction Techniques
– Moving a takeoff point after block
G G
1
G
– Moving a takeoff point before block
G G
G
– Eliminating a feedback loop
G
G
1  GH
H
G G
H =1 1 G

– Swap with two summing points

A B B A

EPM 252, Automatic Control System (1) 8

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Example-4:

– Combine all cascade block using rule-1

– Combine all parallel block using rule-2

EPM 252, Automatic Control System (1) 9

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Example-4:

𝐺2 + 𝐺3
𝐺1 𝐺4

EPM 252, Automatic Control System (1) 10

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram

▪ Example-4:

– Eliminate all minor feedback loops using rule-7

– After the elimination of minor feedback loop the block diagram is

reduced to as shown below

– Again, blocks are in cascade are removed using rule-1

EPM 252, Automatic Control System (1) 11

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-5:
– Open loop transfer function
– Feed Forward Transfer function
– control ratio
– feedback ratio
– error ratio
– closed loop transfer function
– characteristic equation
– closed loop poles and zeros if K=100.

EPM 252, Automatic Control System (1) 12

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-6: H2

R _ C
+_ + G1 + G2 G3
+

H1

EPM 252, Automatic Control System (1) 13

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
H2
▪ Example-6:
G1
R _ C
+_ + + G1 G2 G3
+

H1

EPM 252, Automatic Control System (1) 14

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
H2
▪ Example-6:
G1
R _ C
+_ + + G1G2 G3
+

H1

EPM 252, Automatic Control System (1) 15

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
H2
▪ Example-6:
G1
R _ C
+_ + + G1G2 G3
+

H1

EPM 252, Automatic Control System (1) 16

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
H2
▪ Example-6:
G1
R _ C
G1G2
+_ + G3
1 − G1G2 H 1

EPM 252, Automatic Control System (1) 17

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
H2
▪ Example-6:
G1
R _ C
G1G2G3
+_ +
1 − G1G2 H 1

EPM 252, Automatic Control System (1) 18

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-6:

R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2

EPM 252, Automatic Control System (1) 19

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-7:
– Find the transfer function of the following block diagram
G4
R (s ) Y (s )
G1 G2 G3

H2

H1

EPM 252, Automatic Control System (1) 20

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram I
▪ Example-7: G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:
– Moving takeoff point, A ahead of block G2
B
– Eliminate loop I & simplify G4 + G2G3

EPM 252, Automatic Control System (1) 21

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-7: G4
R(s ) B G4 +
A G2G3
Y (s )
G1 G2 G3

H2
H1G2

– Moving takeoff point, B behind block G4 + G2G3

R (s ) B II C Y (s )
G1 G4 + G2G3
H2
H 1G2 1 /(G4 + G2G3 )
EPM 252, Automatic Control System (1) 22
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-7:
R(s ) Y (s )
G1 GG4 4++GG 2G2G
3 3
C C

1 + H 2 (GH4 2+ G2G3 )
G2 H 1
G4 + G2G3

R (s ) G1 (G4 + G2G3 ) Y (s )
1 + G1G 2 H 1 + H 2 (G4 + G2G3 )

Y (s) G1 (G4 + G2G3 )

=
R( s ) 1 + G1G 2 H1 + H 2 (G4 + G2 G3 ) + G1 (G4 + G2 G3 )
EPM 252, Automatic Control System (1) 23
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-8:
– Find the transfer function of the following block diagrams

R(s ) Y (s )
G1 G2

H1 H2

H3

EPM 252, Automatic Control System (1) 24

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-8:
– Eliminate loop I
R (s )
G1 A GG2 I B
Y (s )
2

H1 1 + GH2 H 22

H3
G2
– Moving takeoff point, A behind block 1 + G2 H 2

R (s ) A G2 B
Y (s )
G1
1 + G2 H 2
II
1 + G2 H 2
H1 1 + G2 H 2
G2 H 3 + H1 ( )
G2
H3 Not a feedback loop
EPM 252, Automatic Control System (1) 25
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-8:
– Eliminate loop II

R (s ) G1G2 Y (s )
1 + G2 H 2

H 1 (1 + G2 H 2 )
H3 +
G2

Y (s) G1G2
=
R( s ) 1 + G2 H 2 + G1G2 H 3 + G1 H1 + G1G2 H1 H 2
EPM 252, Automatic Control System (1) 26
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-9:
– Find the transfer function of the following block diagrams
H4
R(s ) Y (s )
G1 G2 G3 G4

H3

H2

H1
EPM 252, Automatic Control System (1) 27
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-9:
– Moving takeoff point, A behind block G4

I
H4
R(s ) A B
Y (s )
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
EPM 252, Automatic Control System (1) 28
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-9:
– Eliminate loop I and Simplify
R (s ) G2G3G4 II B Y (s )
G1
1 + G3G4 H 4
H3
G4
H2
G4 III

H1

II feedback III Not feedback

G2 G3G4 H 2 − G4 H 1
1 + G3G4 H 4 + G2 G3 H 3 G4

EPM 252, Automatic Control System (1) 29

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-9:
– Eliminate loop II & IIII

R(s ) G1G2G3G4 Y (s )
1 + G3G4 H 4 + G2G3 H 3

H 2 − G4 H 1
G4

Y (s) G1G2G3G4
=
R( s ) 1 + G2G3 H 3 + G3G4 H 4 + G1G2G3 H 2 − G1G2G3G4 H1
EPM 252, Automatic Control System (1) 30
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-10:
– Find the transfer function of the following block diagrams

H2

R(s ) A Y (s )
G1 G2 G3 B

H1

G4
EPM 252, Automatic Control System (1) 31
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-10:
– Moving takeoff point, A behind block G3

H2
I
R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
EPM 252, Automatic Control System (1) 32
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-10:
– Eliminate loop I & Simplify
H2

B B
G2 G3 G2 G3

1 H1
H1 + H2
G3 G3

II
R (s ) G2G3 Y (s )
G1
1 + G2 H 1 + G2 G3 H 2

H1
G3

G4
EPM 252, Automatic Control System (1) 33
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-10:
– Eliminate loop II

R(s) G1G2G3 Y (s)

1 + G2 H1 + G2G3 H 2 + G1G2 H1

G4

Y (s) G1G2G3
T (s) = = G4 +
R( s) 1 + G2 H1 + G2G3 H 2 + G1G2 H1
EPM 252, Automatic Control System (1) 34
Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-11:
– Multiple Input System. Determine the output C due to
inputs R and U using the Superposition Method.

EPM 252, Automatic Control System (1) 35

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-11:

EPM 252, Automatic Control System (1) 36

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-12:
– Multiple-Input System. Determine the output C due to
inputs R, U1 and U2 using the Superposition Method.

EPM 252, Automatic Control System (1) 37

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-12:

EPM 252, Automatic Control System (1) 38

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-13:
– Multi-Input Multi-Output System. Determine C1 and
C2 due to R1 and R2.

EPM 252, Automatic Control System (1) 39

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-13:

EPM 252, Automatic Control System (1) 40

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-13:

When R1 = 0,

When R2 = 0,

EPM 252, Automatic Control System (1) 41

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram Ra La
c
▪ Example-14: ia
Va eb T J
– Block Diagram of Armature 
Controlled D.C Motor

(La s + Ra )I a(s) + K b(s) = Va(s)

(Js + c )(s) = K ma I a(s)

EPM 252, Automatic Control System (1) 42

Second Term – Second year, Lecture No. (4)
 The Higher Institute of Engineering El-Shorouk City
Electrical Power and Machines Department

➢Block Diagram
▪ Example-14:

EPM 252, Automatic Control System (1) 43

Second Term – Second year, Lecture No. (4)