Measurement Engineering and

Controls
Prof. Dr.-Ing. Dirk Nissing

5 Reduction of Multiple Subsystems

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Controller Design Process

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5.1 Block Diagram Transformations

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5.1 Block Diagram Transformations

With the introduction of the transfer function G(s) and applying
the Laplace-transformation rules, the advantages in the
area of block diagram algebra is obvious.
Simplifications:
Transfer function G(s) can be determined if differential
equation of the system is known
Complex and difficult system structures can be simplified
in the complex variable domain (s-plane)
Reverse transformation to the time domain

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Measurement Engineering and Controls

Prof. Dr.-Ing. Dirk Nissing

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5.1 Block Diagram Transformations

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5.1 Block Diagram Transformations

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5.1 Block Diagram Transformations

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5.1 Block Diagram Transformations

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5.1 Block Diagram Transformations

Example: Find the TF of the system =

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()
()

5.1 Block Diagram Transformations

1. Elimination of feedback loop

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5.1 Block Diagram Transformations

2. Moving pickoff point behind a block

1
1 1 3

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5.1 Block Diagram Transformations

3. Parallelization of two blocks
1
1 1 3

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5.1 Block Diagram Transformations

4. Combining blocks
6
+ 5
2

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5.1 Block Diagram Transformations

5. Elimination of feedback loop

6
+ 5
2

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5.1 Block Diagram Transformations

6. Combining blocks

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5.2 Closed-Loop Behavior

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5.2 Closed-Loop Behavior

Reference transfer function Disturbance = 0

()
1 2 ()
()
=
=
=
() 1 + 1 2 () 1 + ()
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202

5.2 Closed-Loop Behavior

Disturbance transfer function Reference = 0

()
2 ()
()
=
=
=
() 1 + 1 2 () 1 + ()
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5.2 Closed-Loop Behavior

Lets control a plant with PT1 characteristic by

using a P-controller:

=
; =
1 + 1

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5.2 Closed-Loop Behavior

Reference TF:

=
r(t)
c(t)

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5.2 Closed-Loop Behavior

Disturbance TF:

=
r(t)
d(t)
c(t)

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5.2 Closed-Loop Behavior

Lets control our plant with PT1 characteristic by

using an I-controller:

=
; =
1 + 1

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5.2 Closed-Loop Behavior

Reference TF:

=
r(t)
c(t)

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5.2 Closed-Loop Behavior

Disturbance TF:

=
r(t)
d(t)
c(t)

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5.2 Closed-Loop Behavior

Lets control our plant with PT1 characteristic by

using a PI-controller:

=
; = +
1 + 1

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Measurement Engineering and Controls

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5.2 Closed-Loop Behavior

Reference TF:

=
r(t)
c(t)

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Check your Understanding

1. What is the equivalent transfer
function of the feedback control
system shown in the figure?
2. A plant with integral behavior is
controlled by using a P-controller.
Calculate the reference and
disturbance TF. Is the closedloop system stable?
3. Are you familiar with block
diagram transformation
methods?

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