Chapter 3: Block diagram models

3.1. Introduction
The dynamic systems that comprise automatic control systems are represented mathematically by a set
of simultaneous differential equations. As we have noted in the Chapter 2, the Laplace transformation
reduces the problem to the solution of a set of linear algebraic equations. Since control systems are
concerned with the control of specific variables, the controlled variables must relate to the controlling
variables. This relationship is typically represented by the transfer function of the subsystem relating
the input and output variables. Therefore, one can correctly assume that the transfer function is an
important relation for control engineering.

The importance of this cause-and-effect relationship is evidenced by the facility to represent the
relationship of system variables by diagrammatic means. The block diagram representation of the
system relationships is prevalent in control system engineering. Block diagrams consist of unidirectional,
operational blocks that represent the transfer function of the variables of interest. The elements of
closed-loop control system are represented in a block diagram form using the transfer function
approach. The general form of such a system is shown in Figure 3.1. The transfer function relating ( )
and ( ) is termed the closed-loop transfer function.

Figure 3.1: Block diagram of a closed-loop control system

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 ( )= ( ) ( ) (3.1)
( )= ( ) ( ) (3.2)
( )= ( )− ( ) (3.3)

Substituting (3.2) and (3.3) into (3.1)

( ) = ( ){ ( ) − ( ) ( ) }
( )= ( ) ( )− ( ) ( ) ( )
( ) ( )
=
( ) + ( ) ( )

The closed-loop transfer function is the forward path transfer function divided by one plus the open-
loop transfer function.

3.2. Block diagram reduction

The block diagram representation of a given system often can be reduced to a simplified block diagram
with fewer blocks than the original diagram. Since the transfer functions represent linear systems, the
multiplication is commutative. Table 3.1 is shown block diagram transformation theorems.

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 Transformation Equation Block diagram Equivalent block diagram

1. Combining
=( )
blocks in cascade

2. Combining
blocks in parallel
= ±
or eliminating a
forward loop

3. Removing block
from a forward = ±
path

4. Eliminating a
= ( ± )
feedback loop

5. Removing block
from a feedback = ( ± )
loop

6. Rearranging
= ± ±
summing points

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7. Moving a
summing point = ±
ahead of a block

8. Moving a
summing point = ( ± )
beyond a block

9. Moving a take-
off point ahead =
of a block

10. Moving a take-

off point beyond =
a block

Table 3.1: Block diagram transformation theorems

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