Control Systems

ECE-4217

Fariya Tabassum
Assistant Professor, Dept. of Electrical & Computer Engineering
Rajshahi University of Engineering & Technology, Rajshahi-6204 1
“Every being on earth is bound
to perish”.
[Sura Ar-Rahman]

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 Block diagram

Block diagrams are single line diagram, that represents the flow of system variables from one block
to another. In other words, A block diagram of a system is a pictorial representation of the
functions performed by each component and of the flow of signals

Where, R(S)= Input, C(S)=Output, G(S)= Transfer function of the system

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 Block diagram
Open-loop transfer function:

the ratio of the feedback signal B(s) to the

actuating error signal E(s) is called the open-loop
transfer function. That is,

Feedforward transfer function:

The ratio of the output C(s) to the actuating error signal E(s) is called the feedforward transfer
function

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 Block diagram
Closed-loop transfer function:

For the system shown in Figure, the output C(s)

and input R(s) are related as follows

eliminating E(s) from these equations gives
The transfer function relating C(s) to R(s) is
called the closed-loop transfer function. It
relates the closed-loop system dynamics to
the dynamics of the feedforward elements
and feedback elements.

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 Mathematical Modeling of Systems

Closed-Loop System Subjected to a Disturbance

Step-1:

Assume that the reference input is zero; then the

response can be found from

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 Mathematical Modeling of Systems

Closed-Loop System Subjected to a Disturbance

Step-2:

Assume that the disturbance is zero. Then the

response CR(s) to the reference input R(s) can be
obtained from

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 Mathematical Modeling of Systems

Closed-Loop System Subjected to a Disturbance

The response to the simultaneous application of the reference input and disturbance can be
obtained by adding the two individual responses.

For preparing the answer you have to go through page 26 of

the book written by “K. Ogata”, 5th edition.

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 Block diagram
Procedures for Drawing a Block Diagram:

❑ Have to write the equations that describe the dynamic behavior of each component.

❑ Have to take the Laplace transforms of these equations, assuming zero initial conditions

❑ Have to represent each Laplace-transformed equation individually in block form

❑ Finally, have to assemble the elements into a complete block diagram

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 Block diagram

𝑉𝑖 − 𝑉0 𝑑𝑖
𝑖= 𝑉0 = 𝐿
𝑅 𝑑𝑡
Laplace transformation of above two equations become

1
𝐼 𝑠 = 𝑉 𝑠 − 𝑉0 𝑠
𝑅 1

𝑉0 𝑠 = 𝑆𝐿𝐼(𝑠)

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 Block diagram

1
𝐼 𝑠 = 𝑉1 𝑠 − 𝑉0 𝑠 𝑉1 𝑠 𝑉1 𝑠 − 𝑉0 𝑠
𝑅

𝑉0 𝑠

𝑉1 𝑠 𝑉1 𝑠 − 𝑉0 𝑠
1 𝐼 𝑠
𝑅

𝑉0 𝑠

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 Block diagram

𝐼 𝑠 𝑉0 𝑠
𝑉0 𝑠 = 𝑆𝐿𝐼(𝑠) 𝑆𝐿

The required block diagram is obtained from the previous two

𝑉1 𝑠 𝑉1 𝑠 − 𝑉0 𝑠 𝐼 𝑠
1 𝑉0 𝑠
𝑆𝐿
𝑅

𝑉0 𝑠

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 Block diagram

Practice some related example of the book written by

“S. Hasan”

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 Block diagram
Reduction Techniques:

Blocks in cascade:

𝑅 𝑠 𝐶 𝑠
𝐺1 (𝑠)𝐺2 (𝑠)

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 Block diagram
Reduction Techniques:

Blocks in parallel:

𝑅 𝑠 𝐶 𝑠
𝐺1 (𝑠) +𝐺2 (𝑠)

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 Block diagram
Reduction Techniques:

Moving a take off point ahead of a block :

𝑅 𝑠 𝐶 𝑠
𝐺 (𝑠)

𝑅 𝑠 𝐶 𝑠
𝐺 (𝑠)

𝐺 (𝑠)

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 Block diagram
Reduction Techniques:

Moving a take off point the block :

𝑅 𝑠 𝐶 𝑠
𝐺 (𝑠)

𝑅 𝑠 𝐶 𝑠
𝐺 (𝑠)

1
𝐺(𝑠)
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 Block diagram
Reduction Techniques:

Moving a summing point beyond a block :

𝑥
𝐺 (𝑠) 𝐶 𝑠

𝑥
𝐺 (𝑠) 𝐶 𝑠

𝑦
𝐺 (𝑠)

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 Block diagram
Reduction Techniques:

Practice other reduction techniques from the book

written by “S. Hasan & K. Ogata”

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 Block diagram Simplification

By moving the summing point of the negative feedback loop containing H2 outside the
positive feedback loop containing H1, the following Figure is obtained

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 Block diagram Simplification

Eliminating the positive feedback loop, the following Figure is obtained

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 Block diagram Simplification

The elimination of the loop containing H2/G1 gives the following Figure

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 Block diagram Simplification

Finally, eliminating the feedback loop results in the following Figure

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 Block diagram Simplification

Practice related examples like 1.30-1.38 from the book

written by “S. Hasan”

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 Block diagram and transfer function of DC motor
Armature controlled DC motor

𝜃(𝑠) 𝐾
=
𝑉(𝑠) 𝑠𝑅𝑎 𝐵 1 + 𝑠𝜏𝑎 1 + 𝑠𝜏𝑚 + 𝐾𝐾𝑏 𝑠

For preparing the answer you have to go through article

1.23.1 of the book written by “S. Hasan”

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 Block diagram and transfer function of DC motor
Field controlled DC motor

𝜃(𝑠) 𝐾𝐾𝑓
=
𝑉𝑓 (𝑠) 𝑅𝑓 𝐵𝑆 1 + 𝑠𝜏𝑚 1 + 𝑠𝜏𝑓 +

For preparing the answer you have to go through article

1.23.2 of the book written by “S. Hasan”

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