Cleveland State University MCE441: Intr.

Linear Control Systems

Lecture 8: Final Value Theorem Block Diagram Algebra

Prof. Richter

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The Final Value Theorem

The Final Value

Theorem

Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

Provides information about the value of f (t) at steady state ( t = ) The steady-state may not exist: the poles of sF (s) must lie on the open left half of C (details later) If limt f (t) exists, then limt f (t) = lims0 sF (s) Example: For F (s) = s(s1 +1) , we see that the only pole of sF (s) lies on the left half plane. So
t

lim f (t) = lim sF (s) = 1

s0

Check by inversion of F (s)

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Block Diagram Algebra

The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

The previous result allows us to multiply TF and input to get output in the Laplace domain Block diagrams are convenient representations of control system structure The following basic operations are allowed in block diagram algebra: 1. Addition between signals. Result: another signal. 2. Multiplication between a signal and a system. Result: another signal. Systems (TFs) are represented by blocks. Signals are represented by arrows.

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Block Diagram Algebra

The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

A Summing junction or summing point is the symbol that represents signal addition A branch point indicates that the output from a block is applied to other blocks or summing junctions.
Summing point R(s) E (s) G(s) Branch point E (s) = R(s) Y (s)

Y (s) = G(s)E (s)

Y (s)

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Block Diagram Manipulations

The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

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Example
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

R(s) + G1 +

+ G2 +

Y (s)

G3 G4

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Solution
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

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Solution
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

Check that the required TF is (G +1)G 1G +12 G2 G3 1 2 4

(G +1)G

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Example
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

R(s) + G2 + G5 G1 + G3

Y (s)

+ G4

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Solution
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

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Solution
The Final Value Theorem Block Diagram Algebra Block Diagram Algebra Block Diagram Manipulations Example Solution Solution Example Solution Solution

3 . 1 , where H1 = 1+G Check that the required TF is 1+G (G 1 3 5 1 H1 G4 +G2 )

G H

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