Chapter 5 Reduction of Multiple Subsystems

Block Diagrams
– Transformation and Reduction Techniques
• Cascade form
• Parallel form
• ….
• feedback
Signal-Flow graphs
Signal-Flow Graphs of State Equations
Alternative Representations in State Space?
Similarity Transformations?

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 Components of a block diagram
for a linear, time-invariant system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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 Parallel Subsystems

equivalent
transfer
function

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Transformation Rules

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Loading in cascaded systems

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 Feedback Control System
simplified model;

E ( s) = R( s) ∓ C ( s) H ( s) C ( s)
E (s) =
G( s)

equivalent transfer function

Open Loop Transfer Function

= Loop Gain = G(s)H(s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Example

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More examples ?

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Block diagram Reduction Example (1) **

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Block diagram Reduction Example (2)

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Example:

Control Systems Engineering, Fourth Edition by Norman S. Nise

Figure P5.4 Copyright © 2004 by John Wiley & Sons. All rights reserved.
Chapter 5 Reduction of Multiple Subsystems

Block Diagrams
Signal-Flow graphs
– components
– Mason’s Rule
Analysis and Design of Feedback Systems

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 Signal-flow graph components

system signal interconnection of

systems and signals
Definitions
1) Branch: unidirectional segment
2) Node
3) Path
4) Loop
- non-touching:
Control Systems Engineering, Fourth Edition by Norman S. Nise
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 Example of Building signal-flow graphs

1) cascaded system nodes

2) parallel system nodes

3) feedback system nodes

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright
Figure 5.18 © 2004 by John Wiley & Sons. All rights reserved.
Example

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Signal-flow graph
development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-
flow graph

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Chapter 5 Reduction of Multiple Subsystems

Block Diagrams
Analysis and Design of Feedback Systems
Signal-Flow graphs
– components
– Mason’s Rule

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
 Motivation Example

A 2-input and 2-output system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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 Mason’s Rule
Defintions
Loop gain: The product of branch gains found by traversing 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.

Forwards-path gain: The product of gains found by traversing a path from the input node to the
output node of the signals-flow graph in the direction of signal flow.

Nontouching loops: loops that do not have any nodes in common.

Nontouching-loop gain: the product of loop gains from nontouching loops taken two, three, four,
or more at a time.

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

where C ( s ) ∑k k k
T∆
G ( s) = =
k = number of forward paths R ( s ) ∆
Tk = the kth forward-path gain
∆ = 1- Σ loop gains + Σ nontouching-loop gains taken two at a time – Σ nontouching-loop gains
taken three at a time, + Σ nontouching-loop gains taken four at a time ….
∆k = ∆- Σ loop gain terms in ∆ that touch the kth forward path. In other words, ∆k is formed by
eliminating from ∆ those loop gains that touch the kth forward path.

Control Systems Engineering, Fourth Edition by Norman S. Nise

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

G2 ( s ) H1 ( s )
G4 ( s ) H 2 ( s )
Loop gain:
G4 ( s )G5 ( s ) H 3 ( s )
G4 ( s )G6 ( s ) H 3 ( s )

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

Forwards-path gain: G1 ( s )G2 ( s )G3 ( s )G4 ( s )G6 ( s )G7 ( s )

Nontouching loops:
e.g. loop G2(s)H1(s) dose not touch loops G4(s)H2(s), G4(s)G5(s)H3(s), and G4(s)G6(s)H3(s).

Nontouching-loop gain: the product of loop gains from nontouching loops taken two,
three, four, or more at a time.

[G2 ( s ) H1 ( s )][G4 ( s ) H 2 ( s )]
[G2 ( s ) H1 ( s )][G4 ( s )G5 ( s ) H 3 ( s )]
[G2 ( s ) H1 ( s )][G4 ( s )G6 ( s) H 3 ( s )]

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Mason’s Rule illustration

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More examples

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