EE C128 / ME C134 – Feedback Control Systems

Lecture – Chapter 5 – Reduction of Multiple Subsystems

Alexandre Bayen

Department of Electrical Engineering & Computer Science

University of California Berkeley

September 12, 2013

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 1 / 13

Lecture abstract

Topics covered in this presentation

I Block diagrams
I Effect of forward-path gain
I 5 representations of systems in state space
I Similarity transformations
I Eigenvalues and eigenvectors

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 2 / 13

Lecture outline

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 3 / 13

 5 Reduction of Multiple Subsystems 5.1 Intro

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 4 / 13

 5 Reduction of Multiple Subsystems 5.2 Block Diagrams

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 5 / 13

 5 Reduction of Multiple Subsystems 5.2 Block Diagrams

Cascade form, [1, p. 237]

I Equivalent TF

Ge (s) = G3 (s)G2 (s)G1 (s)

Figure : a. cascaded subsytems; b.
equivalent TF

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 6 / 13

 5 Reduction of Multiple Subsystems 5.2 Block Diagrams

Parallel form, [1, p. 239]

I Equivalent TF

Ge (s) = ±G3 (s)±G2 (s)±G1 (s)

Figure : a. parallel subsytems; b.

equivalent TF

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 7 / 13

 5 Reduction of Multiple Subsystems 5.2 Block Diagrams

FB form, [1, p. 240]

I OL TF

G(s)H(s)

I CL TF
G(s)
T (s) =
1 ± G(s)H(s)

Figure : a. FB control system; b.

simplified model; c. equivalent TF

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 8 / 13

 5 Reduction of Multiple Subsystems 5.2 Block Diagrams

Moving blocks to create familiar forms, [1, p. 241]

I Summing junctions

Figure : Block diagram algebra for

summing junctions—equivalent forms
for moving a block a. to the left past a
summing junction; b. to the right past
a summing junction

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 9 / 13

 5 Reduction of Multiple Subsystems 5.3 Analysis & design of FB systems

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 10 / 13

 5 Reduction of Multiple Subsystems 5.7 Alternative representations in state space

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 11 / 13

 5 Reduction of Multiple Subsystems 5.8 Similarity transformations

1 5 Reduction of Multiple Subsystems

5.1 Introduction
5.2 Block Diagrams
5.3 Analysis and design of feedback systems
5.7 Alternative representations in state space
5.8 Similarity transformations

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 12 / 13

 5 Reduction of Multiple Subsystems 5.8 Similarity transformations

Bibliography

Norman S. Nise. Control Systems Engineering, 2011.

Bayen (EECS, UCB) Feedback Control Systems September 12, 2013 13 / 13