CONTROL SYSTEMS THEORY

Reduction of Multiple Subsystems

CHAPTER 3 STB 35103

Objectives

To reduce a block diagram of multiple subsystems to a signal block representing the transfer function from input to output

Introduction

Before this we only worked with individual subsystems represented by a block with its input and output.

Complex systems are represented by the interconnection of many subsystems. In order to analyze our system, we want to represent multiple subsystems as a single transfer function.

Block diagram

A subsystems is represented as a block with an input and output and a transfer function.

Many systems are composed of multiple subsystems. So, we need to add a few more schematic elements to the block diagram.

Summing junction Pickoff points

Block diagram

Block diagram

Summing junction

Output signal, C(s), is the algebraic sum of the input signals, R1(s), R2(s) and R3(s).

Pickoff point

Distributes the input signals, R(s), undiminished, to several output points.

Block diagram

There are three topologies that can be used to reduce a complicated system to a single block.

Cascade form Parallel form Feedback form

Block diagram

Cascade form

a. cascaded subsystem b. equivalent transfer function

Equivalent transfer function is the output divided by the input.

Block diagram

Parallel form

Parallel subsystems have a common input and output formed by the algebraic sum of the outputs from all of the subsystems.

Block diagram

Feedback form

It is the same as the closed loop system that we learn in Chapter 1.

a. closed loop system b. closed loop, G(s)H(s) is open loop transfer function

Block diagram

Moving blocks to create familiar forms

Cascade, parallel and feedback topologies are not always apparent in a block diagram. You will learn block moves that can be made in order to establish familiar forms when they almost exist. I.e. move blocks left and right past summing junctions and pickoff points.

Block diagram
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

Block diagram
Block diagram algebra for pickoff points equivalent forms for moving a block a. to the left past a pickoff point; b. to the right past a pickoff point

Block diagram
Block diagram reduction via familiar forms Example: Reduce the block diagram to a single transfer function.

Block diagram
Solution: Steps in solving Example 5.1: a. collapse summing junctions; b. form equivalent cascaded system in the forward path and equivalent parallel system in the feedback path; c. form equivalent feedback system and multiply by cascaded G1(s)

Block diagram
Block diagram reduction by moving blocks Example: Reduce the system shown to a single transfer function.

Block diagram
Solution:
First, move G2(s) to the left past the pickoff point to create parallel subsystems, and reduce the feedback system consisting of G3(s) and H3(s).

Block diagram
Second, reduce the parallel pair consisting of 1/g2(s) and unity and push G1(s) to the right past the summing junction, creating parallel subsystems in the feedback.

Block diagram
Third, collapse the summing junctions, add the two feedback elements together, and combined the last two cascaded blocks.

Block diagram
Fourth, use the feedback formula to obtain figure below

Finally multiply the two cascaded blocks and obtain the final result.

Block diagram
Exercise: Find the equivalent transfer function, T(s)=C(s)/R(s)

Solution

Combine the parallel blocks in the forward path. Then, push 1/s to the left past the pickoff point. Combine the parallel feedback paths and get 2s. Apply the feedback formula and simplify

Block diagram reduction rules

Summary

Block diagram reduction rules

Signal-Flow graphs
Alternative method to block diagrams. Consists of

(a) Branches

Represents systems Represents signals

(b) Nodes

Signal-Flow graphs

Interconnection of systems and signals

Example V(s)=R1(s)G1(s)-R2(s)G2(s)+R3(s)G3(s)

Signal-Flow graphs

Cascaded system

Block diagram

Signal flow

Signal-Flow graphs

Parallel system

Block diagram

Signal flow

Signal-Flow graphs

Feedback system

Block diagram

Signal flow

SFG Question

Given the following block diagram, draw a signal-flow graph

Solution

Masons rule

What?

A technique for reducing signal-flow graphs to single transfer function that relate the output of system to its input.

We must understand some components before using Masons rule

Loop gain Forward-path gain Nontouching loops Nontouching-loop gain

Masons rule

Loop gain

Product of branch gains found by going through a path that starts at a node and ends at the same node, following the direction of the signal flow, without passing through any other node more than once.

G2(s)H1(s) G4(s)H2(s) G4(s)G5(s)H3(s) G4(s)G6(s)H3(s)

Masons rule

Forward-path gain

Product of gains found by going through a path from the input node of the signal-flow graph in the direction of signal flow.

G1(s)G2(s)G3(s)G4(s)G5(s)G7(s) G1(s)G2(s)G3(s)G4(s)G6(s)G7(s)

Masons rule

Nontouching loops

Loops that do not have any nodes in common.

Loop G2(s)H1(s) does not touch loops G4(s)H2(s), G4(s)G5(s)H3(s) and G4(s)G6(s)H3(s)

Masons rule

Nontouching-loop gain

Product of gains form nontouching loops taken two, three, four, or more at a time.

[G2(s)H1(s)][G4(s)H2(s)] [G2(s)H1(s)][G4(s)G5(s)H3(s)] [G2(s)H1(s)][G4(s)G6(s)H3(s)]

Masons rule

The transfer function, C(s)/R(s), of a system represented by a signal-flow graph is

C ( s) G( s) R( s )

T
k k

k number of forward path Tk the kth forward - path gain

Masons rule
k formed by eliminatin g from those loop gains that touch the kth forwardpath.

1 - loop gains nontouching loop gains taken twoat a time nontouching loop gains taken three at a time nontouching loop gains taken four at a time

Example

Draw the SFG representation

Solution

SFG

Solution

Masons rule Question

Using Masons rule, find the transfer function of the following SFG

Solution

Exercise 1

Apply Masons rule to obtain a single transfer function

Exercise 2
1. Reduce to a single transfer function (BDR) 2. Draw the SFG representation 3. Apply Masons rule to obtain the transfer function