ME406: Module 5

Reduction of Block Diagrams

Instrumentation and Control Systems

Prepared by. Engr. Mervin Albalate 1

Control System
• A control system in its pictorial representation may consist of a
number of components called functional blocks.

Block Diagram
• A pictorial representation of the functions performed by each component
and of the flow of signals.
• Block diagrams are often used by control engineers to describe all types of
systems.
• A block diagram can be used simply to represent the composition and
interconnection of a system.
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Basic elements of a block diagram
1. Blocks
2. Transfer functions of elements inside the blocks
3. Branches and Arrows
4. Summing Point(s) or Summer(s)
5. Take-off Points

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1. Blocks
In a block diagram all system variables are linked to each other
through functional blocks. It is simply a rectangular box.

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 2. Transfer Functions
The functional block equation that describes mathematically the
operation on the input signal to the block that produces the
output. The transfer function is given inside the block.

Transfer Function is defined as the

relationship between an input
signal and an output signal to a
device.
It is usually represented in the
frequency domain
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3. Branches and Arrows
These lines shows the connection between the blocks.
Uses arrows to indicate the direction of flow of signal

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4. Summing Point(s) / Summer(s)
Although blocks are used to identify many types of mathematical
operations, operations of addition and subtraction are
represented by a circle “” (or a circle with a cross “”), called a
summing point or summer.

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4. Summing Point(s) / Summer(s)
A summing point may have one or several inputs.
Each input has its own appropriate plus or minus sign.

A summing point has only one output and is equal to the algebraic
sum of the inputs.
+
–

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4. Summing Point(s) / Summer(s)
A summing point may have one or several inputs.
Each input has its own appropriate plus or minus sign.

A summing point has only one output and is equal to the algebraic
sum of the inputs.
+
–

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5. Take-off Point(s)
A take-off point is used to allow a signal to be used by more than
one block or summing point.
A branch starts from this point.

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Advantages of using Block Diagrams
1. Very simple to construct block diagram for a complicated
system

2. Function of individual element can be visualized

3. Individual & Overall performance can be studied

4. Over all transfer function can be calculated easily

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Disadvantages of using Block Diagrams

1. No information about the physical construction

2. Source of energy is not shown

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Simple or Canonical form of a
Closed-Loop ( or Feedback) System

Where:

R(s) – Laplace of reference input r(t)

C(s) – Laplace of controlled output c(t)
E(s) – Laplace of error signal e(t)

B(s) – Laplace of feed back signal b(t)

G(s) – Forward path transfer function

H(s) – Feed back path transfer function

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Simple or Canonical form of a
Closed-Loop ( or Feedback) System

Since that all the signals and transfer functions are in the
frequency domain; we can just skip writing the “s”
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Simplification Techniques for Block Diagrams
1. Rule for Cascaded or Series Blocks

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Simplification Techniques for Block Diagrams
2. Rule for Parallel Blocks

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Simplification Techniques for Block Diagrams
3. Moving a summer found BEHIND (left of) a block to the FRONT of said block

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Simplification Techniques for Block Diagrams
4. Moving a summer found AHEAD (right) of a block to the BACK of said block

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Simplification Techniques for Block Diagrams
5. Moving a pick-off found BEHIND (left of) a block to the FRONT of said block

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Simplification Techniques for Block Diagrams
6. Moving a pick-off found AHEAD (right) of a block to the BACK of said block

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Simplification Techniques for Block Diagrams
7. Eliminating a Feedback Loop

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Simplification Techniques for Block Diagrams
7.a. Eliminating a Feedback Loop (Special Case , G = 1)

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Simplification Techniques for Block Diagrams
7.b. Eliminating a Feedback Loop (Special Case , H = 1)

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Simplification Steps for Block Diagrams

Step 1: Reduce the blocks connected in series (Rule1)

Step 2: Reduce the blocks connected in parallel (Rule2)
Step 3: Reduce the minor feedback loops (Rule 7)
Step 4: Try to move or shift:
summing point(s) towards left (Rule 4)
take off point(s) towards right (Rule 5)
Step 5: Repeat steps 1 to 4 till simple form is obtained
Step 6: Obtain the Transfer Function of Overall System
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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

Rule 1: In Series

Rule 2: In Parallel

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

Rule 7: Feedback loop

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

Rule 1: In Series

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

Rule 7: Feedback loop

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 1: determine its total or overall transfer function.

Step 6: Final Simplified form:

G1G2(G3+G4)

1+G1G2H1 –G1G2H2(G3+G4)

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.
Rule 1: In Series

Rule 2: In
Parallel

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.
Rule 7: Feedback loop

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.

Rule 1: In Series

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 Reduce the blocks of the given system to
Example 2: determine its total or overall transfer function.

Step 6: Final Simplified form:

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Step 5: Move Take-off Point to

the right of block

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Rule 2: In Parallel

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Rule 1: In Series

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Rule 7: Feedback loop

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Rule 1: In Series

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Rule 7: Feedback loop

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 3: determine its total or overall transfer function.

Step 6: Final Simplified form:

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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 Reduce the blocks of the given system to
Example 4: determine its total or overall transfer function.

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Signal Flow Graphs
• alternative to block diagrams.
• consists only of
1. Branches, which represent systems (gain)
2. Nodes, which represent signals

Block Diagram vs Signal Flow Graph

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Signal Flow Graphs
1. Cascaded or Series Systems
Block Diagram Signal Flow Graph

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Signal Flow Graphs
1. Cascaded or Series Systems
Block Diagram Signal Flow Graph

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Signal Flow Graphs
1. Cascaded or Series Systems
Block Diagram Signal Flow Graph

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Signal Flow Graphs
2. Parallel Systems
Block Diagram Signal Flow Graph

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Signal Flow Graphs
2. Parallel Systems
Block Diagram Signal Flow Graph

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Signal Flow Graphs
2. Parallel Systems
Block Diagram Signal Flow Graph

0
1
1

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Signal Flow Graphs
3. Canonical Closed-Loop or Feedback System
Block Diagram Signal Flow Graph

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Signal Flow Graphs
3. Canonical Closed-Loop or Feedback System
Block Diagram Signal Flow Graph

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Signal Flow Graphs
3. Canonical Closed-Loop or Feedback System
Block Diagram Signal Flow Graph

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Signal Flow Graphs
3. Canonical Closed-Loop or Feedback System
Signal Flow Graph
Simplified Signal Flow Graph

This part is the actually ONE and

the SAME node.
Note that “E” is the signal used here
because it is the output signal of the
combination of R and B

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Signal Flow Graphs
3. Canonical Closed-Loop or Feedback System
Block Diagram Signal Flow Graph
Simplified Signal Flow Graph

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Signal Flow Graphs
Example 1: Draw the Signal Flow Graph of the Block Diagram given below:

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Signal Flow Graphs
Example 1: Draw the Signal Flow Graph of the Block Diagram given below:

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Signal Flow Graphs
Example 1: Draw the Signal Flow Graph of the Block Diagram given below:

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Signal Flow Graphs
Example 1: Draw the Signal Flow Graph of the Block Diagram given below:

ONE ONE
and and
SAME ONE SAME
node and node
ONE
and SAME
SAME node
node

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Signal Flow Graphs
Example 1: Draw the Signal Flow Graph of the Block Diagram given below:

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Mason’s Rule
The transfer function : G(s) = C(s)/R(s)
of a system represented by a signal-flow graph is:
Σ T kΔk
G(s) = C(s)/R(s) =
Δ
where
k = number of forward paths
Tk = the kth forward-path gain
Δ = 1 – Σ loop gains + Σ nontouching-loop gains taken two at a time – Σ
nontouching-loop gains taken three at a time + Σ nontouching-loop gains
taken four at a time — ...
Δk = Δ – Σ loop gain terms in Δ that touch the kth forward path.
In other words, Δk is formed by eliminating from Δ those loop gains that touch the kth
forward path.

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Mason’s Rule
Simulation and Definition of Equation Parameters
Consider the previous signal flow diagram:

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Mason’s Rule
Loop Gain. The product of branch gains found by traversing a path that
starts at a node and ends at the same node, following the direction of the
signal flow, without passing through any other node more than once.

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Mason’s Rule
Loop Gain. The product of branch gains found by traversing a path that
starts at a node and ends at the same node, following the direction of the
signal flow, without passing through any other node more than once.

Loop Gain:

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Mason’s Rule
Loop Gain. The product of branch gains found by traversing a path that
starts at a node and ends at the same node, following the direction of the
signal flow, without passing through any other node more than once.

Loop Gain:
Loop Gain:

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Mason’s Rule
Loop Gain. The product of branch gains found by traversing a path that
starts at a node and ends at the same node, following the direction of the
signal flow, without passing through any other node more than once.

Loop Gain:
Loop Gain: Loop Gain:

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Mason’s Rule
Forward-path Gain. The product of gains found by traversing a path from
the input node to the output node of the signal-flow graph in the direction of
signal flow.
Forward-path Gain:

Correction: This curve (–H3) should NOT be Green

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Mason’s Rule
Forward-path Gain. The product of gains found by traversing a path from
the input node to the output node of the signal-flow graph in the direction of
signal flow.
Forward-path Gain:
Forward-path Gain:

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Mason’s Rule
Non-touching-loop Gain. The product of loop gains from non-touching
loops taken two, three, four, or more at a time.
Non-touching loops. Loops that do not have any nodes in common
Non-touching Loop Gain:

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Mason’s Rule
Non-touching-loop Gain. The product of loop gains from non-touching
loops taken two, three, four, or more at a time.
Non-touching loops. Loops that do not have any nodes in common
Non-touching Loop Gain:

Non-touching Loop Gain:

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Mason’s Rule
Summary:

Loop Gains: Forward-path Gain: Non-touching Loop Gain:

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Mason’s Rule
Trying a simplier Simulation using the canonical feedback loop:

Loop Gain: Forward path Gain: Non-touching Loop Gain:

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Mason’s Rule
The transfer function : G(s) = C(s)/R(s)
of a system represented by a signal-flow graph is:

Loop Gain:
Σ TkΔk
G(s) = C(s)/R(s) =
where
Δ Forward path Gain:
k=1
Tk = T1 = G
Non-touching Loop Gain:
Δ = 1 – (±GH) + 0 – 0 + 0 = 1 ∓ GH
Δk = Δ ±GH = 1 ∓ GH ±GH = 1
(G)(1) G
C(s)/R(s) = =
1 ∓ GH 1 ∓ GH
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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
k = 1 to 2 T1 = G1G2G3 T2 = G1G3 Non-touching Loop Gain:
Δ = 1 – Σ loop gains + Σ nontouching-loop gains taken two at a time – Σ
nontouching-loop gains taken three at a time + Σ nontouching-loop gains
taken four at a time — ...

Δ = 1 – [( ) +( )+( )] + [( )+( )]
Δ=1+ + + +( )+( )
Δ=1+ + + + +

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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:
k = 1 to 2 T1 = G1G2G3 T2 = G1G3
Δ = 1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3
Δk = Δ – Σ loop gain terms in Δ that touch the kth forward path.
In other words, Δk is formed by eliminating from Δ those loop gains that touch (have common nodes
with) the kth forward path.
Δ1 = (1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3) + (–G1G2H1 – G2H2– G3H3)
Δ1 = 1 + G1G2G3H1H3 + G2G3H2H3 ALL of the Loop Gains touches T1’s path
.
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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:
k = 1 to 2 T1 = G1G2G3 T2 = G1G3
Δ = 1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3
Δk = Δ – Σ loop gain terms in Δ that touch the kth forward path.
In other words, Δk is formed by eliminating from Δ those loop gains that touch (have common nodes
with) the kth forward path.

Δ2 = (1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3) + (–G1G2H1 – G2H2– G3H3)

Δ2 = 1 + G1G2G3H1H3 + G2G3H2H3 ALL of the Loop Gains touches T2’s path
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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:
k = 1 to 2 T1 = G1G2G3 T2 = G1G3

Δ = 1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3

Δ1 = 1 + G1G2G3H1H3 + G2G3H2H3

Δ2 = 1 + G1G2G3H1H3 + G2G3H2H3
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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:

T1 Δ1 = (G1G2G3 )(1 + G1G2G3H1H3 + G2G3H2H3)

T2 Δ2 = (G1G3 )( 1 + G1G2G3H1H3 + G2G3H2H3)

Σ Tk Δk = (1+ G1G2G3H1H3 + G2G3H2H3)(G1G3 )(G2+1)

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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:
k = 1 to 2 T1 = G1G2G3 T2 = G1G3

Δ = 1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3

Σ Tk Δk = (1+ G1G2G3H1H3 + G2G3H2H3)(G1G3 )(G2+1)

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Mason’s Rule Loop Gains:

Now we try Mason’s Rule on the complex signal-flow

graph:

Σ T kΔk Forward-path Gain:

G(s) =
Δ
Non-touching Loop Gain:
Finally:

(1+ G1G2G3H1H3 + G2G3H2H3)(G1G3 )(G2+1)

G(s) =
1 + G1G2H1 + G2H2+ G3H3 + G1G2G3H1H3 + G2G3H2H3

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