Control System Engineering 6-5 Block Diagram Representation Key Point: G(s) and H(s) can be obtained by reducing complicated block diagram by using block diagram reduction rules. 5.2.1 Derivation of T.F. of Simple Closed Loop System Referring to the Fig. 5.5, we can write following equations as, E(s) = R(s) ¥ Bis) ~(@) Bis) = C(s)H(s) ww (2) Cls) = E(s)G(s) » Q) B(s) = C(s)H(6) and substituting in equation (1) E(s) = R(s) ¥ C(s)H(s) Cs) Es) = reo) Ci SG = RO FCOHE) CO) = RICE) F CIID) 1C) HEGHHE = RO GE) ls) G(s) RG) = TEC)HE) Use + sign for negative feedback and use - sign for positive feedback. This can be represented as shown in the Fig. 5.6. Closed Loop TF. Fig. 5.6 Key Point: This can be used as a standard result to eliminate such simple loops in a complicated system reduction procedure. 5.3 Rules for Block Diagram Reduction Any complicated system if brought into its simple form as shown in the Fig. 5:5, its TF. can be calculated by using the result derived eariler. To bring it into simple form it is necessary to reduce the block diagram but using proper logic such that output of that system and the value of any feedback signal should not get disturbed. This can be achieved by using following mathematical rules while block diagram reduction.Control System Engineering 5-6 Block Diagram Representation Rule 1: Associative law : Consider two summing points as shown in the Fig. 5.7. + Ry-Ry Ry R,— Rat Ry Fig. 5.7 Now change the position of two summing points. Output remains same. So associative law holds good for + summing points which are directly Ry Ry + Ry Ry + Rg Ry connected to each other (ie. there is no intermediate block between two summing points or there is no takeoff point in between the summing points). Fig. 5.8 Consider summing points with a block in between as shown in the Fig. 5.9. R; 7 (Ry - Ra) Gy + Ry Now interchange two summing points. R, +, (R, + Rg) Gy— Ry Now the output does not remain same. Key Point: So associative law is applicable to summing points which are directly connected to ench other. Rule 2 : For blocks in series : ‘The transfer functions of the blocks which are connected in series get multiplied with each other. Fig. 5.10Control System Engineering 5-7 Block Diagram Representation Consider system as shown in the Fig. 5.11. Ris}G,_—_-R(s)G,Gy S—fa} + fa} + fa} Fig. 5.11 C@) = R@) [Gi G2 Ga] So instead of three different blocks, only one block with T.F. [G1 Gz Ga] can be used as shown in the Fig. 5.12. Ris) es) Fig. 5.12 Output in both cases is same. Key Point: If there is « takeoff or a summing point in between the blocks the blocks cannot bbe said to be in series. Consider the combination of the blocks as shown in the Fig. 5.13. ~ ieee Fig. 5.13 Takeoff point Key Point? In this combination G,Gz are in series and can be combined as GiG2 but G3 is now not in series with GyGo as there is takeoff point in between. To call G3 to be in series with GiGo it is necessary to shift the takeoff point before GiGz or after G3. The rules for such shifting are discussed later. Rule 3 : For blocks in parallel : The transfer functions of the blocks which are connected in parallel get added algebraically (considering the sign). Consider system as shown in the Fig. 5.14. 1Control System Engineering 5-8 Block Diagram Representation ee Gy Ris) Gy Fig. 5.14 C(s) = ~ Ris) Gi + R(s) Ga + Ris) Ga = R@)[G2+G3-Gi] Now replace three blocks with only one gj) cis) block with TF. Ga +G3~-Gi (Fig. 5.15) 2 L ex+e5-6, J 2 C(s) = R(s) [G2+G3-Gi] Fig. 15 Output is same. So blocks which are in parallel get added algebraically. Identify the blocks in parallel correctly. The confusing cases are discussed here. Let there exists a takeoff point as shown in the Fig. 5.16 along with blocks G1, G2 which appear to be in parallel. Fig. 5.16 Key Point: But unless and until this takeoff point is shifted before the block, blocks cannot be said to be in parallel. Shifting of takeoff point is discussed next. Secondly shifting a takeoff point after a summing point needs some adjustments to keep output same. In above case the takeoff point cannot be shown after summing point without any alteration. This type of shifting is discussed as critical rules later as such shifting makes the block diagram complicated and should be avoided as far as possible.Control System Engineering 5-9 Block Diagram Representation abs OF i (a) Avoid such shifting (b) Without any alteration 5 as far as possible Fig. 5.17 ape shifting is invalid Similarly consider a configuraion as shown in the Fig. 5.18. This combination is not the parallel combination of G; and Hy. Key Point: For a parallel combination > the direction of signals through the blocks OY [= ] 7 in parallel must be same. - { In this case direction of signal through [ | G, and Hy is opposite. Such a combination is called minor feedback loop and reduction rule for this is Fig. 5.18 discussed later. C{s)= RGty Fig. 5.19 Rule 4 : Shifting a summing point behind the block : Cs) = RG+y Now we have to shift summing point behind the block. Key Point: The output must remain same, while shifting a summing point. Rex Fig. 5.20 (R+0G = Cs)Control System Engineering 5-10 Block Diagram Representation RG+xG = RG+y xG=y 1 2.x=§ so signal y must be multiplied with ¢ to keep output same. O{s)=RG+y Fig. 5.21 Thus while shifting a summing point behind the block ice. before the block, add a block having T.F. as reciprocal of the T.F. of the block before which summing point is to be shifted, in series with all the signals at that summing point. Rule 5 : Shifting a summing point beyond the block : Consider the combination shown in the Fig. 5.22. Rey C=(R+ IG Fig. 5.22 Now to shift summing point after the block keeping output same, consider the shifted summing point without any change. . ie. signal y must get multiplied with TF. of the block beyond which summing point is to be shifted.Control System Engineering 5-11 Block Diagram Representation Fig. 5.24 Thus while shifting a summing point after a block, add a block having T.F. same as that of block after which summing point is to be shifted, in series with all the signals at that summing point. Rule 6 : Shifting a takeoff point behind the block : Consider the combination shown in the Fig. 5.25. R RG c y Fig. 5.25 Cc = RG y = RG Key Point: To shift takeoff point behind the block value of signal takingoff must remain same. Though shifting of takeoff point without any change does not affect output directly, the value of feedback signal which is changed affects the output indirectly which must be kept same. But without any change it is just R as shown in the Fig. 5.26. C=RG y=R Fig. 5.26 But it must be equal to RG. So a block with T.F. G must be introduced in series with signal takingoff after the block. Thus while shifting a takeoff point behind the block, add a block having T.F. same as that of the block behind which takeoff point is to be shifted, in series with all the signals takingoff from that takeoff point.Control System Engineering 5-12 Block Diagram Representation R C=RG y=RG Fig. 5.27 Rule 7 : Shifting a takeoff point beyond the block : Consider the combination shown in the Fig. 5.28. Fig. 5.28 Fig. 5.29 To shift takeoff point beyond the block, value of ‘y’ must reinain same. To keep value of ‘y’ constant it must be multiplied by ‘1/G’. While shifting a takeoff point beyond the block, add a block in series with all the signals which are takingoff from that point, having TF. as reciprocal of the TF. of the block beyond which takeoff point is to be shifted. Rule 8 : Removing minor feedback loop : This includes the removal of internal simple forms of the loops by using standard result derived earlier in section 5.2. Key Point: After eliminating such a minor loop if summing point carries only one signal input and one signal output, it should be removed from the block diagram to avoid further confusion. cs) Ryls) Gs) cts) 126s) H(s) Fig. 5.30Control System Engineering 5-13 Block Diagram Representation Rule 9 : For multiple input system use superposition theorem : Fig. 5.31 Consider only one input at a time treating all other as zero. Consider Ry, R= Then consider R2, R, At the end when all inputs are covered, take algebraic sum of all the outputs. Total output C=QtQ+ Ca Same logic can be extended to find the outputs if system is multiple input multiple output type. Separate ratio of each output with each input is to be calculated, assuming all other inputs and outputs zero. Then such components of outputs can be added to get resultant outputs of the system. In very few cases, it is not possible to reduce the block diagram to its simple form by use of above discussed nine rules. In such case there is a requirement to shift a summing point before or after a takeoff point to solve the problem. These rules are discussed below but reader should avoid to use these rules unless and until it is the requirement of the problem. Use of these rules in simple problems may complicate the block diagram. -Ry =0 and find output C.. Ry =0 and find output C2. 5.3.1 Critical Rules Rule 10 : Shifting takeoff point after a summing point. Consider a situation as shov in Fig. 532. Fig. 5.32 Fig. 6.33 Now after shifting the takeoff point, let signal takingoff be ‘z’ as shown in the Fig. 5.33. Now z= RayControl System Engineering _ S14 Block Diagram Representation But we want feedback signal as x = Ry only. So signal ‘y’ must be inverted and added to C; to keep feedback signal value same. ‘And to add the signal, summing point must be introduced in series with takeoff signal. So modified configuration becomes as shown in the Fig, 5:34. R, x=Ry Fig. 5.34 Rule 11 : Shifting takeoff point before a summing point : Consider a situation as shown in the Fig. 5.35. xeRyty Fig. 5.35 Now after shifting the takeoff point, let signal takingoff be ‘z’ as shown in the Fig. 536. Now z = Ri only because nothing is changed. CR ty Fig. 5.36 But we want feedback signal x which is Ry + y. Hence to z, signal ‘y’ must be added with same sign as it is present at summing point, which can be achieved by using summing point in series with takeoff signal as shown in the Fig. 5.37.Control System Engineering §-15 Block Diagram Representation Cty Fig. 5.37 ‘Thus it can be noticed that shifting of takeoff point before or after a summing point adds an additional summing point in the block diagram and this complicates the block diagram. No doubt, in some rare cases, it is not possible to reduce the block diagram without such shifting of takeoff point before or after a summing point. Apart from such cases, do not use such shifting, which will complicate the simple block diagrams. Key Point: Do not use these rules unless and until problem really needs them. 5.3.2 Converting Nonunity Feedback to Unity Feedback Consider a nonunity feedback system, shown in the Fig. 5:38. It is minor feedback loop and hence, 7 c c SG a It is to be converted to unity feedback system. But the denominator of closed loop transfer function must remain same as Fig. 5.38 Nonunity feedback system before. & = Top with unity feedback ie H=1 a 1+G’ = 1+GH_ ie. G’=GH c_ cH Thus, €- an 2) 1 But transfer function must remain same hence it is necessary to introduce block of 5 in series with R. Thus converted unity feedback system is as shown in the Fig. 5.39.Control System Engineering 5-18 Block Diagram Representation cS “Hy ea Unity feedback Fig. 5.39 Equivalent unity feedback system = _ GH G as R * H*1+GH * 1+GH ...same as before §.3.3 Procedure to Solve Block Diagram Reduction Problems Step 1 : Reduce the blocks connected in series. Step 2 : Reduce the blocks connected in parallel. Step 3 : Reduce the minor internal feedback loops. Step 4: As far as possible try to shift takeoff points towards right and summing points to the left. Unless and until it is the requirement of problem do not use rule 10 and 11. Step 5 : Repeat steps 1 to 4 till simple form is obtained. Step 6 : Using standard ‘LF. of simple closed loop system, obtain the closed loop T-F. 6) ie) of the overall system. wp Example 5.1: Determine the transfer function C(s)/ R(s) of the system shown in the Fig. 5.40. Fig. 5.40Control System Engineering 5-17 Block Diagram Representation Solution: The blocks G2 and G3 are in parallel so combining them as (G2+G3) we get, Blocks in series Le} Blocks in series R; Gi Ge G)+G,] c 3 HES 1G, Gy (G2 + G5) 1=G, Gy Fy Feedback loop Gi Gs G2+Ga) Cts) 1-Gi Gs i Ris) “| Gi Ga (G2+Gs) He 14+ 4-G; Gy AiControl System Engineering 5-18 Block Diagram Representation cls) Gi Ga (G2+Gs) ~ Ans, ROS)" 1-Gy Gs Hi +Gi Ga (G2 +G3) Hz 5.4 Analysis of Multiple Input Multiple Output Systems In these problems, the law of superposition is to be used, considering each input separately. While assuming the other inputs as zero, most of the times if only input is applied to the summing point, summing point is to be removed if not necessary. vee) Key Point: While removing summing point if sign of the signal present, at that summing point which is to be removed is negative then it must be carried forward in the further analysis, This can be achieved by introducing a block of transfer function -1 in series with that signal. This is the important step to be remembered while solving problems on multiple input multiple output systems. eg. consider a part of system showing two inputs R(s) and Y(s). Ris) ‘Other details are not shown for simplicity. When R(s) is considered alone, Y(s) must be assumed zero and summing point at Y(s) can be Fig. 5.44 removed as with Y(s) = 0 there remains only a a single signal present at that point so system gets modified as shown in the Fig. 5.42. Fig. 5.42 Now sign of signal from block G; is positive at the summing point which is removed, hence there is no need of adding any other block. Now when R(s) = 0 with Y(6) active, the summing point at R(s) also can be removed. But now sign of the signal ‘x’ at that summing point is negative which must be considered and carried forward for further analysis. This is possible by adding a block of =1 in series with x without altering any other sign. This avoids the confusion and problem can be solved without any error. Block of 1" Ys) [+t -&) Fig. 5.43Control System Engineering 5-19 Block Diagram Representation mp Example 5.2: Using block diagram reduction technique find the transfer function from each mput to the output C for the system shown in the Fig. 5.44. x) —[ 6, -}—___________ Ris) Fig. 5.44 Solution : With X(s) = 0, block diagram reduces as, G26 Gs a) G26; Gy a) Fig. 5.44(a)Controt System Engineering 5-20 Block Diagram Representation Ce) GiG2G3Gs__ RG) ~ 14G24GsHs +GaGsHs +GaGaGs With R(s) = 0, G, vanishes but minus sign at summing point must be considered by introducing block of ~ 1, as shown. X{s) Note this block Minor loop 4} Minor loop = KA Gc G3 Tom cs) Fig. 5.44(c) Rearranging the input - output we get, Fig. 5.44(¢)