Lecture

Types of Functions & Block

Diagram Representation of Control
Systems

Dr. Prem Gunnasegaran

email: prem@uniten.edu.my
 UNIT STEP FUNCTION
Describe sudden changes in current or voltage in a circuit
Practical step functions occur daily, like each time you turn on/off your
mobile, lights on/off, etc.
 UNIT IMPULSE FUNCTION
Is the response of any dynamic system to external change.
Used in loud speakers and control systems.
RAMP FUNCTION
 The concept of unit ramp function signal is that the amplitude
steadily increases with time
Carefully applied because will burn out the hardware, since it
increases linearly with time
Used in power electronics and in testing of power system
components
 EXPONENTIAL FUNCTION
Are used to model populations
 SINE & COSINE FUNCTIONS
Music is composed of waves of different frequencies and amplitudes and
these can be described using sin/cos.
BLOCK DIAGRAM
 Introduction
A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.

The interior of the rectangle representing the block contains

a transfer function for the mathematical operation to be
performed on the input to yield the output.

The arrows represent the direction of information or signal

flow.

x G(s) y
 Introduction
The operations of addition and subtraction have a special
representation.

The block becomes a small circle, called a summing point, with

the appropriate plus or minus sign associated with the arrows
entering the circle.

The output is the algebraic sum of the inputs.

Any number of inputs may enter a summing point.

Some books put a cross in the circle.

 Introduction
In order to have the same signal or variable be an input
to more than one block or summing point, a takeoff
point is used.

This permits the signal to proceed unaltered along

several different paths to several destinations.
 Example-1
Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.

x3 a1 x1 a2 x2 5
 Example-1
Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.

x3 a1 x1 a2 x2 5
 Example-2
Consider the following equations in which x1, x2,. . . , xn, are
variables, and a1, a2,. . . , an , are general coefficients or
mathematical operators.

xn a1 x1 a2 x2 an 1 xn1
Canonical Form of A Feedback Control System
 Characteristic Equation
The control ratio is the closed loop transfer function of the system.

C( s ) G( s )

R( s ) 1 G( s ) H ( s )

The denominator of closed loop transfer function determines the

characteristic equation of the system.

Which is usually determined as:

1 G( s )H ( s ) 0
 Example-3
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio
R( s ) 1 G( s ) H ( s )

B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G( s )H ( s )

E( s ) 1 H (s )
5. error ratio
R( s ) 1 G( s ) H ( s )
C( s ) G( s )
6. closed loop transfer function
R( s ) 1 G( s ) H ( s )

7. characteristic equation 1 G( s )H ( s ) 0

8. closed loop poles and zeros if K=10.

Reduction techniques

1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1 G2
G2
Reduction techniques

3. Moving a summing point behind a block

G G
G
4. Moving a summing point ahead of a block

G G
1
G

5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G
7. Eliminating a feedback loop

G
G
1 GH
H

G
G
1 G

H 1

8. Swap with two neighboring summing points

A B B A
Example-4: Reduce the Block Diagram to Canonical Form.
 Example-4: Continue.

However in this example step-4 does not apply.

However in this example step-6 does not apply.

 Example-5
For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
 Example-5
First we will reduce the given block diagram to canonical form

K
s 1
 Example-5

K
s 1

K
s 1
G
1 GH K
1 s
s 1
 Example-6

H2

R _ C
+_ + G1 + G2 G3
+

H1
 Example-6
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1
 Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1
 block diagram: reduction example
H2
G1
R _ C
G1G2
+_ + G3
1 G1G2 H1
 block diagram: reduction example
H2
G1
R _ C
G1G2G3
+_ +
1 G1G2 H1
 block diagram: reduction example

R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
 Example-6

R G1G2G3 C
1 G1G2 H1 G2G3 H 2 G1G2G3
 Example 7
Find the transfer function of the following block diagrams

G4
R (s ) Y (s )
G1 G2 G3

H2
H1
 I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2

Solution:

1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4 G2G3
 G4
R(s )
GG4
B A G G
Y (s )
G1 2
2G 3
3

H2
H1G2

3. Moving pickoff point B behind block G4 G2G3

II
R(s ) B C
Y (s )
G1 G4 G2G3
H2
H1G2 1 /(G4 G2G3 )
4. Eliminate loop III

R(s ) Y (s )
G1 GG4 4GG 2G2G
3 3
C C

1 H 2 (GH4 2 G2G3 )
G2 H1
G4 G2G3
Using rule 6

R(s ) G1 (G4 G2G3 ) Y (s )

1 G1G 2 H1 H 2 (G4 G2G3 )

Y ( s) G1 (G4 G2G3 )
T (s)
R( s ) 1 G1G 2 H1 H 2 (G4 G2G3 ) G1 (G4 G2G3 )
Example 8
Find the transfer function of the following block diagrams

R(s ) Y (s )
G1 G2

H1 H2

H3
Solution:

1. Eliminate loop I

R(s ) A
G2 I
B
Y (s )
G1 G2
H1
1 GH2 H
2
2

H3
G2
2. Moving pickoff point A behind block
1 G2 H 2
R(s ) A G2 B
Y (s )
G1
1 G2 H 2

1 G2 H 2 II
H1 1 G2 H 2
G2 H 3 H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II

R(s ) G1G2 Y (s )
1 G2 H 2

H1 (1 G2 H 2 )
H3
G2
Using rule 6

Y (s) G1G2
T (s)
R( s) 1 G2 H 2 G1G2 H 3 G1 H1 G1G2 H1 H 2
 Example 9
Find the transfer function of the following block diagrams

H4
R(s ) Y (s )
G1 G2 G3 G4

H3

H2

H1
 Solution:

1. Moving pickoff point A behind block G4

I
H4
R(s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
2. Eliminate loop I and Simplify

R(s ) II Y (s )
G2G3G4 B
G1
1 G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G2G3G4 H 2 G4 H 1
1 G3G4 H 4 G2G3 H 3 G4
 3. Eliminate loop II & IIII

R(s ) G1G2G3G4 Y (s )
1 G3G4 H 4 G2G3 H 3

H 2 G4 H 1
G4
Using rule 6

Y ( s) G1G2G3G4
T (s)
R( s) 1 G2G3 H 3 G3G4 H 4 G1G2G3 H 2 G1G2G3G4 H1
Example 10
Find the transfer function of the following block diagrams

H2

R(s ) A Y (s )
G1 G2 G3 B

H1

G4
Solution:

1. Moving pickoff point A behind block G3

I
H2

R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify

H2

B
G2 G3 B G2G3

1 H1
H2
H1 G3 G3
II
R(s ) G2G3 Y (s )
G1 1 G2 H1 G2G3 H 2

H1
G3

G4
3. Eliminate loop II

R(s ) G1G2G3 Y (s )
1 G2 H1 G2G3 H 2 G1G2 H1

G4

Y ( s) G1G2G3
T ( s) G4
R( s) 1 G2 H1 G2G3 H 2 G1G2 H1
Example-11: Simplify the Block Diagram.
Example-11: Continue.
Example-12: Reduce the Block Diagram.
Example-12: Continue.
Example-13: Reduce the Block Diagram. (from Nise: page-242)
Example-13: Continue.
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END OF LECTURES-2