MENG332

Control Principles
Tutorial #3
Block diagram
g

Transfer Function

Consists of Blocks

Can be reduced

G4
R (s ) Y (s)
G1 G2 G3

H2
H1

R(s ) Y (s )
G
Reduction techniques
1. Combining blocks in cascade or in parallel

G1 G2 G1G2

G1
G1  G2
G2

2. Moving a summing point behind a block

G G
G
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
6. Eliminating a feedback loop
G
G
1  GH
H

G
G
1 G

H 1

7. Swap with two neighboring summing points

A B B A
 Example 1

Find the transfer function of the following

block diagrams

(a)
G4
R (s ) Y (s )
G1 G2 G3

H2

H1
 I
G4
R (s ) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:
1 Moving
1. M i pickoff
i k ff point
i t A ahead
h d off bl
block
k G2

2. Eliminate loop
p I & simplify
p y
B
G4  G2G3
 G4
R (s )
GG 4 A G 2GG3
B Y ((s )
G1 2 3

H2
H1G2

3. Moving pickoff point B behind block G4  G2G3

II
R( s) B C
Y (s)
G1 G4  G2G3
H2
H1G2 1/(G4  G2G3 )
4. Eliminate loop III
R( s) Y ( s)
G1 GG4 4GG2G2G
3 3
C C

1 H2 (GH4 2 G2G3 )
G2H1
G4  G2G3

Using rule 6
R( s) G1 (G4  G2G3 ) Y (s)
1  G1G2 H1  H2 (G4  G2G3 )

Y (s) G1 (G 4  G 2 G3 )
T (s)  
R ( s ) 1  G1G 2 H 1  H 2 (G 4  G 2 G3 )  G1 (G 4  G 2 G3 )
 (b)

R( s) Y (s)
G1 G2

H1 H2

H3
Solution:
1. Eliminate loop I
R( s) A
G2 I
B
Y (s)
G1 G2
H1
1 GH2H
2
2

H3
G2
2. Moving pickoff point A behind block 1  G2 H 2
R( s) A G2 B
Y (s)
G1
1  G2 H 2

1  G2 H 2 II
H1 1  G2 H 2
G2 H 3  H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R( s) G1G 2 Y ( s)
1  G2 H 2

H 1 (1  G 2 H 2 )
H3 
G2

Using rule 6

Y (s) G1G2
T (s)  
R(s) 1 G2 H2  G1G2 H3  G1H1  G1G2 H1H2
 (c)
H4
R( s) Y ( s)
G1 G2 G3 G4

H3

H2

H1
 Solution:
1. Moving pickoff point A behind block G 4
I
H4
R( s) Y ( s)
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
2. Eliminate loop I and Simplify
R( s) II Y ( s)
G2G3G4 B
G1
1  G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G 2 G 3G 4 H 2  G4 H 1
1  G 3G 4 H 4  G 2 G 3 H 3 G4
3 Eliminate loop II & IIII
3.

R( s) G1G 2 G 3G 4 Y ( s)
1  G 3G 4 H 4  G 2 G 3 H 3

H 2  G4 H 1
G4

Using rule 6

Y (s) G1G2G3G4
T (s)  
R(s) 1 G2G3H3  G3G4 H4  G1G2G3H2  G1G2G3G4 H1
 (d)
H2

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

H1

G4
Solution:
1. Moving pickoff point A behind block G 3
I
H2

R( s) A B Y (s)
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2

B
G2 G3 B G2G3

1 H1
 H2
H1 G3 G3
II
R( s) G2G3 Y ( s)
G1
1  G2 H1  G2G3 H 2

H1
G3

G4
3 Eliminate loop II
3.

R( s) G1G 2 G 3 Y ( s)
1  G 2 H 1  G 2 G 3 H 2  G1G 2 H 1

G4

Y (s) G1G2G3
T (s)   G4 
R(s) 1 G2 H1  G2G3H2  G1G2 H1
 Example 2
Determine the effect of R and N on Y in the
following diagram

N
G4
R Y
G1 G2

H1

G3
In this linear system,
y , the output
p Y contains two parts,
p ,
one part is related to R and the other is caused by N:

Y  Y1  Y2  T1R  T2 N

If we set N
N=0
0, then we can get Y1:

Y1  YN 0  T1R

The same, we set R=0 and Y2 is also obtained:

Y2  YR0  T2 N
Thus, the output Y is given as follows:

Y  Y1  Y2  YN0  YR0
Solution:
1. Swap the summing points A and B
N
G4
II
R G2 Y
G1
1  G2 H1
B A

G3

2. Eliminate loop II & simplify

N
G4
R G1G2 Y
G1G3 
1  G2 H1
Rewrite the diagram:
N
G4
R o G1G2 o Y
G1G3 
1  G2 H1

3. Let N=0
R G1G2 Y
G1G3 
1  G2 H1

We can easily get Y1

G1G2  G1G3  G1G2G3H1
Y1  R
1 G2 H1  G1G2  G1G3  G1G2G3H1
 4. Let R=0, we can get:
N Y

G1G2
G1G3 
1  G2 H1

G4
M

5. Break down the summing point M:

N Y
G1G2G4 G1G2
G1G3G4  G1G3 
1  G2 H1 1  G2 H1
 6. Eliminate above loops:
1
G1G2G4
1  G1G3G4  G 1G 2
N 1  G2 H1 1  G 1G 3  Y
1  G2 H 1

1 G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1

Y2  N
1 G2 H1  G1G2  G1G3  G1G2G3H1

7. According to the principle of superposition, Y1 and Y2

can be combined together, So:

Y  Y1  Y2
1
 [(G1G2  G1G3  G1G2G3H1)R
1 G2 H1  G1G2  G1G3  G1G2G3H1
 (1 G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1)N]
End