Module 7: Block Diagram Algebra

By
Ramon A. Alguidano, Jr., DT, BSECE, MEngr., D.I.T., RECE, PECE, ANZSCO PE
Introduction
Block diagram algebra is nothing but the algebra involved
with the basic elements of the block diagram. This algebra deals
with the pictorial representation of algebraic equations.

Basic Connections for Blocks

There are three basic types of connections between two
blocks.
1. Series Connection
2. Parallel Connection
3. Feedback Connection
Series Connection
Series connection is also called cascade connection. In the
following figure, two blocks having transfer functions G1(s) and G2(s) are
connected in series.
The series connection of two blocks represent a single
block. The transfer function of this single block is the product
of the transfer functions of those two blocks. The equivalent
block diagram is shown below.
Parallel Connection
The blocks which are connected in parallel will have the same input.
In the following figure, two blocks having transfer functions G1(s) and G2(s)
are connected in parallel. The outputs of these two blocks are connected to
the summing point.

The parallel connection of two blocks

represent a single block. The transfer
function of this single block is the sum
of the transfer functions of those two
blocks.
Feedback Connection
As we discussed in previous chapters, there are two types
of feedback - positive feedback and negative feedback. The following figure
shows negative feedback control system with transfer functions G(s)
and H(s) form a closed loop.
Therefore, the negative feedback closed
loop transfer function is

The negative feedback connection of two

blocks represent a single block. The
transfer function of this single block is the
closed loop transfer function of the
negative feedback.
Block Diagram Algebra for Summing Points

There are two possibilities of shifting summing points with

respect to blocks:
• Shifting summing point after the block
• Shifting summing point before the block
Shifting Summing Point After the Block
The summing point is present before the block.

Now, shift the summing point after the

block.

Summing point has two inputs R(s)

and X(s). The output of it is {R(s)+X(s)}.
The input to the
block G(s) is {R(s)+X(s)}{R(s)+X(s)} a
nd the output of it is
Output of the block G(s) is G(s)R(s)
The output of the summing point is
Y(s)=G(s)R(s)+X(s)
 The first term ‘G(s)R(s)′ is same in both the equations. But, there is
difference in the second term. In order to get the second term also same, we
require one more block G(s). It is having the input X(s) and the output of this
block is given as input to summing point instead of X(s).
Shifting Summing Point Before the Block
Consider the block diagram shown with the summing point is
present after the block.
Now, shift the summing point before the
block. This block diagram is shown in figure
below.

Output of this block diagram is

Y(s)=G(s)R(s)+X(s)

Output of this block diagram is Y(S)=G(s)R(s)+G(s)X(s)

 The first term ‘G(s)R(s)′‘G(s)R(s)′ is same in both equations. But, there
is difference in the second term. In order to get the second term also same,
1
we require one more block . It is having the input X(s) and the output of
𝐺(𝑠)
this block is given as input to summing point instead of X(s). This block
diagram is shown in figure below.
Block Diagram Algebra for Take-off Points
There are two possibilities of shifting the take-off points with
respect to blocks:
• Shifting take-off point after the block
• Shifting take-off point before the block
.

Shifting Take-off Point After the Block

Consider the block diagram shown in the following figure. In this
case, the take-off point is present before the block.
Here, X(s)=R(s)X(s)=R(s) and Y(s)=G(s)R(s). When you shift
the take-off point after the block, the output Y(s) will be
same. But, there is difference in X(s) value. So, in order to
1
get the same X(s) value, we require one more block . It
𝐺(𝑠)
is having the input Y(s) and the output is X(s). This block
diagram is shown in figure below.
Shifting Take-off Point Before the Block
Consider the block diagram shown in the following figure. Here, the
take-off point is present after the block.
Here, X(s)=Y(s)=G(s)R(s)X(s)=Y(s)=G(s)R(s).
When you shift the take-off point before the block,
the output Y(s) will be same. But, there is difference
in X(s) value. So, in order to get same X(s) value, we require
one more block G(s). It is having the input R(s) and the output
is X(s). This block diagram is shown in figure below.
Table Of Block Diagram
Transformation.
Unity Feedback Systems
A unity feedback system is one in which the primary feedback b is identically
equal to the controlled output C.

Any feedback system with only linear time-invariant elements can be put into the form of a unity
feedback system by using Transformation 5.
Superposition Of Multiple Inputs
Sometimes it is necessary to evaluate system performance when several inputs are
simultaneously applied at different points of the system.
When multiple inputs are present in a linear system, each is treated independently
of the others.
The output due to all stimuli acting together is found in the following manner. We assume
zero initial conditions, as we seek the system response only to inputs.
Step 1: Set all inputs except one equal to zero.
Step 2 Transform the block diagram to canonical form, using the transformations Table
Step 3: Calculate the response due to the chosen input acting alone.
Step 4: Repeat Steps 1 to 3 for each of the remaining inputs.
Step 5: Algebraically add all of the responses (outputs) determined in Steps 1 to 4.
This sum is the total output of the system with all inputs acting simultaneously. We
reemphasize here that the above superposition process is dependent on the system being
linear.
Example
Determine the output C due to inputs U and R.
𝑪 𝑮 G1G2
Step 3: = the output CR due to input R CR =
1 + GlG2
𝑅
𝑹 𝟏±𝑮𝑯
Step4a: Put R=0.
Step 4 b: Put - 1 into a block, representing the negative feedback
effect:

• Step 1: Put U = 0
• Step 2: The system reduces to
.
Rearrange the block diagram:
Let the -1 block be absorbed into the summing point:

𝑪 𝑮 G1G2
Step 4c: = the output CU due to input U is CU = U.
𝑹 𝟏±𝑮𝑯 1 + GlG2

Step 5: The total output is

Reduction Of Complicated Block Diagrams
The block diagram of a practical feedback control system is often quite complicated. It
may include several feedback or feedforward loops, and multiple inputs. By means of
systematic block diagram reduction, every multiple loop linear feedback system may be
reduced to canonical form. The techniques developed in the preceding paragraphs provide the
necessary tools. The following general steps may be used as a basic approach in the reduction
of complicated block diagrams.
• Step 1: Combine all cascade blocks using Transformation 1.
• Step 2 Combine all parallel blocks using Transformation 2.
• Step 3: Eliminate all minor feedback loops using Transformation 4. Transformations 7, 10,
and 12.
• Step 4: Shift summing points to the left and takeoff points to the right of the major loop,
using
• Step 5: Repeat Steps 1 to 4 until the canonical form has been achieved for a particular input.
• Step 6 Repeat Steps 1 to 5 for each input, as required.
Transformations 3, 5, 6, 8, 9, and 11 are sometimes useful, and experience with the reduction
technique will determine their application.
Example

Step 1:
Step 2:

Step 3:

Step 4: Does not apply.

Step 5:

Step 6 Does not apply.

An occasional requirement of block diagram reduction is the isolation of a
particular block in a feedback or feedforward loop. This may be desirable to more easily
examine the effect of a particular block on the overall system.
Isolation of a block generally may be accomplished by applying the same reduction
steps to the system, but usually in a different order. Also, the block to be isolated cannot be
combined with any others.
Rearranging Summing Points (Transformation 6) and Transformations 8, 9, and 11
are especially useful for isolating blocks.
Assignment Answer
Show your solution by following the 6 steps in the reduction of the
block diagram.
1. Reduce the block diagram by isolating block H1.

Answer
2. Prove that for blocks in cascade.
 𝑋𝑛
3. Find for each of the systems:
𝑋1
Answers
Answers
4. Determine the output C due to Ul, U2, and R

Answer
5. Determine C, and C2 due to R1 and R2

Answer

GIR1 − G1G3G4R2
C1=C11+C12=
1 − G1G2G3G4

G4R2 − G1G2G4R1
C2=C22+C21=
1 − G1G2G3G4
6. Reduce the given block diagram to canonical form, and find the output transform
C, K is a constant.

Answers

𝐾𝑅
C=
(1+ K ) s + (1 + 0.1K)
7. Reduce the given block diagram to canonical form, isolating block K in the forward loop.

Answer
8. Reduce the given block diagram to open-loop form.

Answer
9. Determine the transfer function of the given system. Let H1 = 1/G, and H2 = l/G2.

Answer
10. Assume that linear approximations in the form of transfer functions are available for each block of the
given Supply and Demand System.

Answer
End of Presentation