Reduction of Multiple

Subsystems
Chapter 5
 Introduction
(section 5.1 from the book)

• Objective: to reduce a system composed of block-diagram of

multiple subsystems into representation of a single input-
output bock diagram.
• We want to represent a complex system with a transfer
function which yields an explicit input-output dependence.
• Two techniques:
i) Direct solution from the block-diagram representation,
ii) Indirect solution with using signal-flow graphs.

© 2019 Farrokh Sharifi 2

 Block-diagrams
(section 5.2 from the book)

• A example of a complex systems composed of multiple

subsystems
Subsystems are introduced
by adding summing
junctions and pick-off
points.

© 2019 Farrokh Sharifi 3

 Block-diagrams
• Cascade form:

• The blocks are connected in series.

• The transfer function is a product of the subsystems’ transfer functions.

• Assumption: the output of each subsystem is not affected by the
adjacent subsystems. © 2019 Farrokh Sharifi 4
 Block-diagrams
• Parallel form:

• The transfer function is a sum of the subsystems’ transfer functions.

© 2019 Farrokh Sharifi 5

 Block-diagrams
• Feedback form:
Output:

or:

then substitute into the error

equation:

solve for
and it is obtained:

© 2019 Farrokh Sharifi 6

 Block-diagrams
• Feedback form:

Note: (-) feedback results in 1+GH

(+) feedback results in 1- GH

© 2019 Farrokh Sharifi 7

 Block-diagrams
• The relationship (output/input) C(s)/R(s) is called closed-loop
transfer function.
• The product G(s)H(s) is called open-loop transfer function, or
loop gain.

• Before exploiting the three introduced forms: cascade, parallel

and feedback, often the system blocks need to be rearranged
first.
• Next we examine a few examples of block moves.

© 2019 Farrokh Sharifi 8

 Block-diagrams
• Moving the block G(s) to the left of a summing junction:

Note that for both the right and the left block diagram in the
figure above, the output is:

© 2019 Farrokh Sharifi 9

 Block-diagrams
X (s)
• Moving the block G(s) to the right R( s)
G (s)
of a summing junction:

 X (s) 
 R( s)  G (s) 
 G ( s ) 
R ( s )G ( s ) X ( s )

X (s)
G (s)

Note that for both the right and the left block diagram, the output
is:

© 2019 Farrokh Sharifi 10

 Block-diagrams
• Moving the block G(s) to the left or right of a pick-off point:

11
Block-diagrams: Summary

© 2019 Farrokh Sharifi 12

Block-diagrams: Summary

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 Block-diagrams
• Example: Reduce the given block diagram to a single block:

• Note that the problem can be solved in different ways;

• Of course, the final transfer function must be identical, even if
you solve it your your own way.
© 2019 Farrokh Sharifi 14
 Block-diagrams
1) the three summing junctions can
be combined into a single
summation junction (compare with
the figure in the previous slide).
2) parallel blocks H1, H2, H3
→ sum the transfer functions.
(check the signs for the transfer
functions)
3) cascade blocks G2, G3
→ multiply the transfer functions.

4) feedback form and cascade G1.

© 2019 Farrokh Sharifi 15
 Block-diagrams
• Example: Block diagram reduction with moving blocks.

• Recognize that we can reduce the G3 - H3 subsystem (feedback

form).
• Also, the yellow signal line prevents us from using the
standard forms: therefore, move G2 to the right of the pick-off
point.
© 2019 Farrokh Sharifi 16
 Block-diagrams
Parallel form
move to the right

Note: the signal weight is 1.

Cascade form

Parallel form
17
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Block-diagrams

Feedback form

Cascade form

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 Block-diagrams
• Example: Reduce the following block diagram to a single
transfer function (problem 5.1)

Feedback form
Parallel form

• Solution: Notice the following subsystems.

© 2019 Farrokh Sharifi 19

 Block-diagrams
• Example cont.:

• Loop transfer function:

1 50 s
G1 ( s )   s  2
s s  s  100
2 2

• Closed loop transfer function:

G1 ( s ) 50  s  2 
T (s)   3 2
1  G1 ( s ) s  s  150 s  100
20
© 2019 Farrokh Sharifi
 Block-diagrams
• Tutorial: Find the closed loop transfer function C(s)/R(s)
using block diagram reduction (problem 5.2)

• Solution:
Push the block G1 to the left past the pickoff point.

© 2019 Farrokh Sharifi 21

 Block-diagrams
• Example cont.:

• Now the standard rules can be applied:

© 2019 Farrokh Sharifi 22

 Block-diagrams
• Exercise: A control engineer N. Minorsky designed an innovative ship steering
system in 1930s for the US Navy. The system is shown in the figure where Y(s) is
the ship’s course , R(s) is the desired course, and A(s) is the rudder angle. What is
the Y(s)/R(s)?

23
© 2019 Farrokh Sharifi
 Block-diagrams
• Exercise: A four wheel antilock automobile braking system uses electronic
feedback to control automatically the brake force on each wheel. In the block
diagram Ff ( s) and FR ( s) are the braking force of the front and rear wheels,
respectively, and R(s) is the desired automobile response on the icy road. Find
Ff ( s ) / R( s)

© 2019 Farrokh Sharifi 24

Analysis and Design of Feedback Systems
(section 5.3 from the book)

• An immediate application of previous section is the

analysis and design of feedback systems.
Block Diagram Reduction
Equivalent
Given System
Transfer function

Percentage Overshoot

Settling Time
Peak Time
Rise Time
25
© 2019 Farrokh Sharifi
Analysis and Design of Feedback Systems
• Example: Consider the following system:

a a 2  4K
0  K  a2 4 s1,2   
K 2 2
T (s)  2 K  a2 4
s  as  K s1,2  
a
2

K  a2 4 a 4K  a 2
s1,2    j
2 2 26
© 2019 Farrokh Sharifi
Analysis and Design of Feedback Systems
• Example: Find the peak time, percent overshoot, and
settling time for the following system:

25
- Solution: T ( s)  2
s  5s  25 
Tp   0.726sec
n  b  25  5 n 1   2

 1 2
2n  a  5    0.5 %OS  e 100  16.303
4
Ts   1.6sec
n 27
Analysis and Design of Feedback Systems
• Example: Design the value of gain for the following
system so that the overshoot is 10%.

K
T (s)  2
s  5s  K
n  K
5
2n  5    K  17.9
2 K
Note: settling time is
%OS  0.1    0.591
independent of K. 28
Analysis and Design of Feedback Systems
• Tutorial: For the given system, find the values of K1 and K2 to obtain a
settling time of 2 seconds and a peak time of 1 second (problem 5.16)

- Solution: The forward path transfer function is:

10
s ( s  2) 10 K1
G ( s )  K1  2
1  K2s
10 s  10 K 2  2  s
s ( s  2)

© 2019 Farrokh Sharifi 29

Analysis and Design of Feedback Systems
• Example cont.:
• The closed loop transfer function is:

• a) Since: and , it follows that the poles

should be at -2  j.

• , so it follows K2= 1/5.

30
© 2019 Farrokh Sharifi
 Signal-Flow Graphs
(section 5.4 from the book)

• Signal-Flow Graphs (SFG) are an alternative to block

diagrams.

SFG Nodes: representing signals

Branches: representing systems

© 2019 Farrokh Sharifi 31

 Signal-Flow Graphs
• Each signal is the sum of signal flowing into it:

V ( s)  R1 ( s)G1 ( s)  R2 ( s)G2 ( s)  R3 ( s)G3 ( s)

C1 ( s )  V ( s )G4 ( s )  R1 ( s )G1 ( s)G4 ( s)  R2 ( s)G2 ( s)G4 ( s)  R3 ( s)G3 ( s)G4 ( s)

C2 ( s )  V ( s )G5 ( s )  R1 ( s )G1 ( s )G5 ( s )  R2 ( s )G2 ( s )G5 ( s )  R3 ( s )G3 ( s)G5 ( s)

C3 ( s )  V ( s )G6 ( s )   R1 ( s )G1 ( s )G6 ( s )  R2 ( s )G2 ( s )G6 ( s )  R3 ( s )G3 ( s )G6 ( s )

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 Signal-Flow Graphs
• Example: Convert the cascade, parallel and feedback forms of
the following block diagram into SFG.
- Solution:
A. Cascade:

V2 ( s)  V1 ( s ) 
G2 ( s) R( s) G2 ( s)G1 ( s) R( s )

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 Signal-Flow Graphs
B. Parallel:

© 2019 Farrokh Sharifi 34

 Signal-Flow Graphs
C. Feedback:

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 Signal-Flow Graphs
• Example: Convert the following block diagram to a SFG.

- Solution:

Step a: nodes:

36
© 2019 Farrokh Sharifi
 Signal-Flow Graphs
Step b: SFG:

© 2019 Farrokh Sharifi 37

 Signal-Flow Graphs
Step c: simplified SFG:

© 2019 Farrokh Sharifi 38

 Mason’s Rule
(section 5.5 from the book)

• Mason’s Rule is a technique for reducing signal-flow

graphs to single transfer functions that relate the output
of a system to its input.
Loop gain: gain of any possible loop
(start and return the same point)

Forward-path gain: gain of any possible

Components of forward path from input to output
Mason’s Rule Nontouching loops: those that do not
have any node in common

Nontouching-loop gain: gains

of all nontouching loops

© 2019 Farrokh Sharifi 39

 Mason’s Rule
• Example: To understand the components of Mason’s
Rule consider the SFG below:

 Loop gains: , , , .
 Forward path gain: 1.
2. 40
 Mason’s Rule
• Example cont.:

 Nontouching loops: does not touch ,

, and .
 Nontouching-loop gain: ,
and . 41
 Mason’s Rule
• Mason’s Rule: The transfer function of a system
represented by a SFG is:

In which:
k is the number of forward paths
Tk is kth forward path gain
  1   loop gains +  nontouching loops gains taken two
at a time   nontouching-loop gains taken three at a
time  …. four …. 
 k     loop gain terms in  that touch the kth forward
path. 42
 Mason’s Rule
C ( s)
• Example: Find the transfer function for the SFG shown
R( s )
below:

1 2

 Forward path gain:

 Loop gains: 1. 2.
3. 4.
43
© 2019 Farrokh Sharifi
 Mason’s Rule
• Example cont.:
 Nontouching loops taken two at a time:
Loop 1 and loop2:
Loop 1 and loop 3:
Loop 2 and loop 3:
 Nontouching loops taken three at a time:
Loops 1, 2, 3:

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 Mason’s Rule
• Example cont.: Now we may form  and  k .

All the above gains have Common (touching) nodes

with path 1 except loop 3

We finally have the transfer function as:

© 2019 Farrokh Sharifi 45

 Mason’s Rule
• Example: For the given system, draw the equivalent SFG and
find the following transfer functions:
Y ( s) Y ( s) E (s) E (s) .
, , ,
R( s ) N 0 N ( s ) R 0 R( s ) N 0 N ( s ) R 0

© 2019 Farrokh Sharifi 46

 Mason’s Rule
• Example cont.:

• Loops: G2×G3×1× -1 , and G3×1×(-H1);

therefore . k  1 for both paths
• For Y(s)/R(s), the forward paths are:
G1×G3×1 and 1×G2×G3×1
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 Mason’s Rule
• Example cont.:
• For Y(s)/N(s), the forward path is: 1×1;

• For E(s)/R(s), the forward paths are: 1, and G1×G3×1×(-1);

nontouching loop is: G3×1×(-H1) for the first path,
1  1  G3 ( s ) H1 ( s )
2  1
• For E(s)/N(s), the forward path is: 1×1× -1; 1  1

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 Mason’s Rule
Step 1. Find the loop gains.
Step 2. Find the nontouching loops gains.
Step 3. Calculate Δ = 1–Σ(loop gains) + Σ(nontouching loops
gains taken two at a time) –Σ(nontouching loop gains taken
three at a time) + ...
Step 4. Find the forward paths gains Tk, for k = 1, 2,…
Step 5. Calculate Δk = Δ – Σ (loop gain terms in Δ that touch the
kth forward path).
Step 6. The transfer function of the system is obtained as
T k k
T (s)  k

© 2019 Farrokh Sharifi 49

 Mason’s Rule
• Tutorial: Use Mason’s rule to find the transfer function T(s) =
C(s)/R(s) for the following system [problem 5.26]

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© 2019 Farrokh Sharifi