System

x(x -
> H(s) ->
y(S)y(s) H(S) x(S)
=

Cascade
I
---
-

x(s)
-
-

" Hics]

#ic5HzXIS>
7 1 2(S)
+

-"
> ycs)

yls

Take off point

x(x12(5)
y(s)
= -

> Hi(S)
X(S) HICS]

x(S)
↓
0 -> y(s)
>
J -

Hacs

Parallel connection

Loop ->
Feedback

Output <setpoint-> Input +1

(negative feedback:outputsubtracted from setpoint)
->
Output) setpoint imput - -

Control systems the we're trying to control

thing

d
I plant >

-----

!
(actuator input]

UCS] xCS]

" YCS
-> actuator -> process ->

- - - - -
 actuator drives the process response input
-

in to

process
-

partof the that

plant produces output
the

setpoint "Input" actuator

-

input
↓
r(s) ↑

- -
plant -
-

t
-

- -
- -

"
- -

usss!
0
e(s)
>
>K -
> 'actuator ->
M I

------
-

sensor

error (ecs)) -
difference between setpoint
and output

Sensor -

system
that
measures the (outputof
output true
sensor: output
(no sensor block -> perfectsensing)

K ->
controller -

system adjusts
that plant in
input response error
to

Closed loop transfer function

↳effective transfer function maps
that setpoint
the tothe

output

r(s)

↓ e r
=
-
HX
y G(r
=
-
Hx)

t e(s) y(S)
>KCS> >
P(S) 7
↑
- start at
t he output

HY
H(S) L

y H
=

G(s) KCS)PCS) =
->
forward path links setpoint
that
path
=

e output
to without
loop
loop
open transfer
↑
-unction

Cascadeo loops
t t

-> > A(S) [(5) >

-
->

B(S) DCS)
L

=
A C
-

-
1 mB-
1 CD
+
 C
-> - -

1 + CD
->

...
5(1 x +

Nested Loops
-
- - - - - -

-
--

i
t t
-> -> -> >
A(s)
~ 1

!
-
-

B(s) <

-
---

CCS) <

-> apply loop

I
formula again
>O
-
- >

·
-

1 + AB
(CS) E
A
=

1 AB AC
+
+

Interlocking loop
Els

+ v I

A(S) > B(S) > ((S)

> > > 7

-
-

DCS) <
 a) tale off point
moving a

x(S) move ↓
> takeoff G(S1X(S)
acs] - x(S)

-
->

>GCS] >
[S]
x >GCS] > GC5> X
a(s)x(s)

mover take off point

-
↓

E(S) [[S]

+ v t
A(S) > B(S) > ((S)
> > >

-
-

DCS) <

b)
moving a
summing junction
G(s)x,25 xz(S)

10
+

xI(S)
>a(s) >
-

xz(S)

I move summing junction

W

t
xics-
0 >GCS) >

x2 I -
I
E
a(S)
=
cascade rule C

---
-
-

- mover take off point

-
↓

E(S) [[S]

. . . . -
-
+ v
ABC
=

A(S) > B(S) > ((S)

> > 7

moved summing junction

I
L DCS) <
=
-

ACS)
 parallel
-

E connection
-
C
C
-
in 0 -

+--

S ) ABC -

-
-
)
+

B
L
E

I
> 7
ABC
-

ABC
- #

DC. AB

P
ABC
=

1 BEA
+

BDC
+