 

  J‫א‬‫א‬

‫א‬‫א‬
 ‫א‬‫א‬

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 ‫א‬‫א‬W‫א‬‫א‬
 
 K١ J١
‫א‬‫א‬ K٢ J١
 ‫א‬ K٣ J١
 ‫א‬‫ א‬K٤ J١
‫א‬‫ א‬K١ J٤ J١
‫א‬‫א‬‫א‬ K٢ J٤ J١
‫א‬‫א‬ K٣ J٤ J١
‫א‬ K٤ J٤ J١
 ‫א‬ K٥ J٤ J١
 ‫א‬‫א‬ K٥ J١
‫א‬‫א‬‫א‬‫א‬‫א‬ K١ J٥ J١
 ‫א‬‫א‬‫א‬‫א‬‫א‬ K٢ J٥ J١
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٦ J١
E‫א‬F‫א‬‫א‬‫ א‬K١ J٦ J١
 ‫א‬‫א‬‫א‬‫א‬ K٢ J٦ J١
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K٧ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٨ J١
 ‫א‬‫א‬‫א‬ K٩ J١
 
 
 
 
 

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 W‫א‬‫א‬
 W‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬ •
 K‫א‬‫א‬ •
 K‫א‬‫א‬ •
‫א‬‫א‬ •
‫א‬‫א‬ •
‫א‬‫א‬‫• א‬
K‫א‬ •
EF‫א‬‫א‬‫• א‬
K‫א‬‫א‬‫א‬ •
K‫א‬‫א‬‫א‬ •
 
 
 
 
 
 
 
 

 
 

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 Introduction J K١ J١

EControl-SystemF‫א‬
‫א‬‫א‬‫א‬  ‫א‬K  
‫א‬K  ‫א‬‫א‬‫א‬‫א‬‫א‬K
‫א‬ J‫א‬‫א‬ J‫א‬‫א‬ J‫א‬F‫א‬
‫א‬‫א‬‫א‬‫א‬KE‫א‬
 K‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W،‫א‬‫א‬
 ‫א‬
 ،‫א‬‫א‬‫א‬
،‫א‬
 ،‫א‬‫א‬
،‫א‬‫א‬‫א‬‫א‬
،‫א‬‫א‬
 ،‫א‬
‫א‬‫א‬‫א‬
KKK‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬  ‫א‬

 ‫א‬‫א‬‫א‬، ‫א‬‫א‬‫א‬
 ‫א‬K‫א‬‫א‬‫א‬‫א‬ 
W‫א‬‫א‬
 ،‫א‬‫א‬
 ،‫א‬‫א‬‫א‬
 KKKK‫א‬‫א‬
 ،‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
Transportation F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬KEEnvironmentF‫א‬EUrban PlanningF‫א‬‫א‬‫א‬ESystems
‫א‬‫א‬EComputersF ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬ERobotF

W(Common Control System's Components)‫א‬‫א‬ K٢ J١

 K‫א‬‫א‬‫א‬‫א‬WEInputF‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬WEOutputF‫א‬
‫א‬EInputF‫א‬‫א‬WEErrorF‫א‬
 K‫א‬‫א‬‫א‬KEOutputF
‫א‬‫א‬‫א‬WEReferenceF‫א‬
K‫א‬‫א‬
 
 :(Illustrative Examples of Control Systems)‫א‬ K٣ J١
 W‫א‬‫א‬‫א‬‫א‬‫א‬
 
 W‫א‬‫א‬‫א‬E١-١F
‫א‬‫א‬‫א‬ E١-١F
‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
E‫א‬F‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

  

 


 ‫א‬

‫א‬



‫א‬E1J1F 
 
 
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K  ‫א‬‫א‬‫א‬K‫א‬
 
W‫א‬‫א‬‫א‬‫א‬E2-1F
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬E2-1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
F‫א‬‫א‬‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬KE‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬‫א‬  


 
 ‫א‬‫א‬

  
 ‫א‬
 

  ‫א‬


 ‫א‬E2J1F
 
 
 W‫א‬‫א‬E3-1F
‫א‬ ‫א‬E‫א‬F‫א‬Ea3-1F
‫א‬E‫א‬‫א‬F‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬ ‫א‬K‫א‬‫א‬
‫א‬K ‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬E‫א‬‫א‬F‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 

-٦-
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
 
Pneumatic valve Controller

‫א‬
Inflow


Outflow
(a)

‫א‬ ‫א‬ ‫א‬‫א‬

Desired level Pneumatic Actual level
Controller Water tank
‫א‬‫א‬ valve ‫א‬‫א‬


Float

(b)

‫א‬‫א‬E3J1F
 
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬Eb3-1F‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 
 

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 WE‫א‬FE4-1F
 
EF
 
 ‫א‬‫א‬‫א‬Ea4-1F‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ 
E‫א‬‫א‬‫א‬FE‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬  Eb4-1F‫א‬K‫א‬‫א‬‫א‬
 

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 ‫א‬
Brain

 ‫א‬‫א‬
 
 ‫א‬  ‫א‬
‫א‬ ‫א‬‫א‬
‫א‬‫א‬

(a) ‫א‬

‫א‬E8J1F 

 ‫א‬ ‫א‬ ‫א‬

Input Hand Output
Brain Hand
‫א‬‫א‬ Muscle ‫א‬
E‫א‬F
‫א‬
Eye

(b)

 ‫א‬E4J1F 
 
 WE5-1F
ENumerical ControlF‫א‬‫א‬E5-1F‫א‬
‫א‬KENumbersF‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬KE‫א‬F‫א‬
‫א‬‫א‬‫א‬‫א‬KEReaderF‫א‬‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬

-٩-
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬‫א‬E‫א‬‫א‬F‫א‬‫א‬
 K‫א‬‫א‬‫א‬

Frequency-modulated pulse
Tachometer

 ‫א‬ ‫א‬
Reader Controller D-A Amp Motor
conv Cutter
 ‫ א‬‫א‬
‫א‬‫א‬
‫א‬ P ‫א‬
‫א‬‫א‬
Pulse D-A Feedback
conv
‫א‬
 ‫א‬
Tape
E5J1F
 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬ EAnalog to Digital ConverterF 
‫א‬‫א‬EDigital to Analog ConverterF‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 W‫א‬‫א‬‫א‬E6-1F

 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬
‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 
- ١٠ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 W‫א‬‫א‬E7-1F
‫א‬‫א‬K
 ‫א‬‫א‬E6-1F‫א‬
‫א‬‫א‬‫א‬‫א‬٣٥‫א‬ Eblast furnaceF
 F ‫א‬‫א‬‫א‬‫א‬‫א‬٤٠٠٠
 KE‫א‬

‫א‬‫א‬ ‫א‬
‫א‬ 12
Top gas
Iron ore 3
4 Blast
‫א‬ Coke furnace
 Limestone ‫א‬
‫א‬ Hot air Slag
 Steam Pig iron
‫ א‬Oxygen ‫א‬
 Oil


‫א‬‫א‬
Command Computer
Command 
Reference input

‫א‬‫א‬E6J1F
 

 ‫א‬‫א‬‫א‬‫א‬F‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬E‫א‬
 ‫א‬‫א‬K ‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬K‫א‬
- ١١ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬‫א‬
‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬K
 ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬

 ‫א‬‫א‬ ‫א‬ ‫א‬K‫א‬‫א‬
‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬K‫א‬
 
 WE8-1F

 E7-1F‫א‬

 ‫א‬‫א‬‫א‬Pulses‫א‬K 
‫א‬‫א‬‫א‬‫א‬‫א‬ J U a 
‫א‬E‫א‬F‫א‬‫א‬K‫א‬‫א‬
، ‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬

‫א‬‫א‬ ‫א‬
Ua

‫א‬ 
‫א‬‫א‬ ‫א‬



 E7J1F
 
 

- ١٢ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 WEFlow GraphF‫א‬EBlock DiagramF‫א‬‫ א‬K٤ J١

‫א‬W
 ‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬K  ،
 K‫א‬‫א‬‫א‬‫א‬
 Block Diagram‫א‬‫א‬ K١ J٤ J١
elements‫א‬
   
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 KBlock diagram‫א‬‫א‬‫א‬‫א‬K
 blocks‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬signaloutput‫א‬signalinput
 ‫א‬
‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬transfer function

 E8-1F‫א‬K
 ‫א‬ ‫א‬‫א‬ 
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

X (s) G (s) Y(s)

‫א‬‫א‬E8J1F
 
 

- ١٣ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 W
 
Y(s) = G(s)X(s)
Y(s)
  G(s) =
X(s)
 
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
K‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬K‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬
 
 Summing Element‫א‬  J
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE9-1F‫א‬EF‫א‬‫א‬

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

X2(s) X1(s)

+ +

X3(s) - Y(s)
+

Xn(s)

‫א‬E9J1F
 
 
 W
  Y(s) = X1 (s) + X 2 (s) − X 3 (s) + ................ + X n (s)
 
 Error Detector‫א‬ J
  ‫א‬‫א‬ ‫א‬‫א‬‫א‬
elementcomparing  ‫א‬‫א‬Ksignalfeedback
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 KE10-1F

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

R(s) + E(s)
‫א‬‫א‬ - ‫א‬

‫א‬
‫א‬ C(s)

‫א‬‫א‬‫א‬E10J1F
 
 
 W‫א‬
 
  E(s) = R(s) − C(s) (1 - 1)

Branch point‫א‬  J

‫א‬ C(s) ‫א‬‫א‬
KE11-1F‫א‬‫א‬‫א‬‫א‬
 K‫א‬

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J


C(s) C(s)

C(s)

‫א‬‫א‬E11J1F
 
 Construction of Block Diagram‫א‬‫א‬‫א‬ K٢ J٤ J١
K‫א‬‫א‬
 W‫א‬‫א‬‫א‬
 
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J
 K‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬  J
 ‫א‬‫א‬‫א‬‫א‬    J
K‫א‬‫א‬‫א‬
 ‫א‬‫א‬‫א‬  J
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
Block Diagram Transformation ‫א‬‫א‬ K٣ J٤ J١
Theorems
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬

 
 ‫א‬‫א‬‫א‬‫א‬
 E1-3F‫א‬‫א‬‫א‬K

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

H,X,Y,Z‫א‬‫א‬‫א‬‫א‬‫א‬P‫א‬K
 KS‫א‬‫א‬‫א‬
 
Equivalent Block
Transformation Equation Block Diagram
Diagram

Combining Blocks P2
1 Y = (P1P2)X X P1 Y X P1 P2 Y
in Cascade

Combining Blocks
In parallel; or + X Y
2 Y = P1 X ± P2 X X Y
Eliminating a P1 P1± P2
Forward Loop ±

X P1 + Y
Removing a block P2
3 From a Forward Y = P1 X ± P2 X P2 P2 ±
Path

X P1 Y
Eliminating a + Y
4 Y = P1(X P2Y) X
Feedback loop P1 1 ± P1 P2

X 1 + Y
Removing a Block P2 P1P2
5 From a Feedback Y = P1(X P2Y) P2
Loop

 ‫א‬‫א‬ E ١J ٣F 


 

- ١٨ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

Equivalent Block
Transformation Equation Block Diagram
Diagram

W Z W Z

Rearranging
6a Z=W±X±Y X Y
Summing Points
Y X

W Z
W Z
Rearranging
Z=W±X±Y
6b Summing Points X X

Y Y

Moving a Summing X Z
Z = PX ± Y X Z P
7 Point Ahead of a P

Block Y 1 Y
P

Moving a Summing Z X Z
X P
8 Point Beyond of a Z = P(X ± Y) P

Block Y Y
P

Moving a Takeoff
X Y
Point Ahead of a X Y P
9 Y = PX P
Block
Y Y
P

Moving a Takeoff Y X Y
X P
Point Beyond a Y = PX P
10
Block X
1
P

X Z
Moving a Takeoff X Z

Point Ahead of a Z
11 Z=X±Y Y
Summing point
Z
Y

X Z
X Z
Moving a Takeoff X
Y
12 Point Beyond a Z=X±Y
Summing point Y X

 
- ١٩ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 Signal Flow Graph‫א‬ K٤ J٤ J١


 K ‫א‬‫א‬
 ‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
 Fundamental of Signal Flow Graph‫א‬  J
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬K
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬
 KE12-1FK‫א‬

Input nodes
‫ﻧﻘﺎط اﻟﺘﻘﺎء‬ X4 (Source)
Mixed nodes
d
‫ﻧﻘﺎط دﺧﻞ‬ ‫ﻧﻘﺎط ﺧﺮج‬
Input nodes Output nodes
(Source) a X2 b X3 1 (Sink)

X1 X3

 ‫א‬‫א‬‫א‬E12J1F
 
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬
K ‫א‬‫א‬K‫א‬
- ٢٠ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬
 ‫א‬‫א‬‫א‬‫א‬

 ‫א‬‫א‬‫א‬K
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬Masons rule‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬
 Basics of Signal Flow Graph‫א‬‫א‬  J
 ‫א‬‫א‬‫א‬‫א‬
  ‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
‫א‬‫א‬‫א‬K ‫א‬‫א‬
 KE13-1F

- ٢١ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

a
(a)
X1 X2

a b ab
(b) =
X1 X2 X1 X3

a
a+b
(c) X1 X2 =
X1 X2

a ac
X1 c X1
(d) = X4
X4
b bc
X2 X2

ab
1-bc
a X2 b X3 ab X3
(e) = =
X1 X1 X1 X3
c bc

 ‫א‬‫א‬‫א‬E13J1F
 
 
 W‫א‬E13-1F‫א‬‫א‬
  X 2 = aX1 Ea١٣-١F‫א‬ X 2 ‫א‬ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J٢
KEb١٣-١F
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ J٣
Ec١٣-١F‫א‬
Ed١٣-١F‫א‬‫א‬ J٤
WEe١٣-١F‫א‬‫א‬ J٥

- ٢٢ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

x 3 = bx 2 , x 2 = ax 1 + cx 3
x 3 = abx 1 + bcx 3 : ‫أي أن‬
  x 3 = [ ab /(1 − bc ] x1 : ‫أو‬

 K‫א‬‫א‬‫א‬‫א‬E14-1F‫א‬

R(s) C(s) G(s)

G(s)
R(s) R(s)

R(s) E(s) C(s) 1 G(s)

G(s)
R(s) E(s) C(s)

-H(s)

H(s)

N(s)
N(s)
1
R(s)
E(s) C(s) 1 G1(s) G2(s)
G1(s) G2(s) C(s)
R(s) E(s)

-H(s)

H(s)

K‫א‬‫א‬‫א‬E14J1F
 
 
Mason's Rule For Signal Flow Graphs‫א‬ K٥ J٤ J١
E‫א‬‫א‬F‫א‬‫א‬ ‫א‬‫א‬
K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 W‫א‬
1
 P = ∑ Pk ∆ k
∆ k
(2 - 1)

 
- ٢٣ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

  Pk = path gain of kth forward path ‫א‬‫א‬

  ∆ = determinant of graph ‫א‬
 
 = ١ JE‫א‬‫א‬FHEF
  JE‫א‬FHKKKKKK
  1 − ∑ La +∑ Lb Lc − ∑ Ld Le L f + ..........
a b ,c d ,e , f

 W
  ∑ La Z‫א‬‫א‬‫א‬
a

  ∑ Lb Lc Z
b ,c

  ∑ Ld Le L f Z‫א‬
d ,e , f

  ∆ k k = ‫א‬‫א‬‫א‬‫א‬‫א‬ ∆ 
 
 WE9-1F
 ‫א‬K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K C ( s) ‫א‬‫א‬‫א‬
R( s)
 
H2
 

R(s) C(s)  
G1   G2 G3

 
  H1
 
 
 
 
- ٢٤ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

  -H2
 
 
R(s) 1 1   G1 G2 G3 1 C(s)

  C(s)

H1  
 
-1  
 
 
 
 
 W‫א‬‫א‬‫א‬
  P1 = G 1G 2 G 3
 W‫א‬
L1 = G 1G 2 H 1
  L 2 = −G 2 G 3 H 2
L 3 = −G 1G 2 G 3
 W ∆ ‫א‬‫א‬‫א‬‫א‬
 
∆ = 1 − (L1 + L 2 + L 3 )
 
= 1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
 
‫א‬‫א‬‫א‬ ∆1  P1 ‫א‬‫א‬‫א‬‫א‬‫א‬
 W ∆ 
  ∆1 =1
 W C ( s) ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R( s)
 
- ٢٥ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

C (s) P∆
=P= 1 1
R( s) ∆
  G 1G 2 G 3
=
1 - G 1G 2 H 1 + G 2 G 3 H 2 + G 1G 2 G 3
 
 
 WE10-1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
G7  
G6  
 
 
G1 G2 G3 G4 G5
R(s) C(s)  
 
-H1  
 
-H2
 
 
 
 
 
 W‫א‬
 W‫א‬‫א‬‫א‬
 
P1 = G 1G 2 G 3 G 4 G 5
  P2 = G 1G 6 G 4 G 5
P3 = G 1G 2 G 7

- ٢٦ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 W‫א‬
 
L 1 = −G 4 H 1
L 2 = −G 2 G 7 H 2
 
L 3 = −G 6 G 4 G 5 H 2
L 4 = −G 2 G 3 G 4 G 5 H 2
 
 W ∆  L 2 ‫א‬‫א‬ L1 ‫א‬‫א‬
 
  ∆ = 1 − (L1 + L 2 + L 3 + L 4 ) + L1 L 2
 W P1 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ ∆1 
 
 Classification of Control Systems‫א‬‫א‬ K٥ J١
open loop‫א‬‫א‬‫א‬‫א‬،‫א‬‫א‬
 Kclosed loop control system‫א‬‫א‬‫א‬‫א‬
 
 Open Loop Control Systems‫א‬‫א‬‫א‬‫א‬ K١ J٥ J١
،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬

- ٢٧ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

Actuating signal

 ‫א‬  ‫א‬

System
components
Input signal Output signal
(command) (controlled variable)
 ‫א‬‫א‬‫א‬‫א‬

 ‫א‬E15J1F 
 
 
‫א‬‫א‬
 ‫א‬‫א‬K‫א‬‫א‬‫א‬‫א‬E15-1F
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
 
 Closed-loop Control‫א‬‫א‬‫א‬‫א‬‫א‬ K٢ J٥ J١
K ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 

- ٢٨ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬ Actuating signal

Controller

 ‫א‬  ‫א‬

forward-path
⊗E
k
+ System
Input signal Output signal
(command)
-
 
M
 components
(controlled variable)
 ‫א‬‫א‬‫א‬‫א‬

feedback-path
System
components

 ‫א‬E16-1) 
 

،‫א‬  block diagram‫א‬‫א‬E16-1F

controller K
 ‫א‬  E‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬plant‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬E‫א‬F‫א‬K‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬K
‫א‬‫א‬ ‫א‬
 operational amplifier‫א‬
 K
‫א‬‫א‬M‫א‬‫א‬
 ‫א‬‫א‬Kplant‫א‬‫א‬‫א‬‫א‬‫א‬EF
 K‫א‬
 
- ٢٩ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٦ J١
‫א‬ ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J

 K ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬،‫א‬‫א‬
 ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬ ‫א‬  J
‫א‬‫א‬‫א‬
 ‫א‬،‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬
‫א‬  ‫א‬‫א‬‫א‬‫א‬‫א‬  J
‫א‬‫א‬‫א‬‫א‬‫א‬K ‫א‬‫א‬
‫א‬K‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬ ‫א‬‫א‬،‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 K‫א‬‫א‬‫א‬‫א‬
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬K٧ J١
Block Diagram of a Closed-loop Control System
 E17-1F‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 ‫א‬‫א‬F ‫א‬‫א‬‫א‬ C(s) ‫א‬
E
 W‫א‬‫א‬‫א‬
 

- ٣٠ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
Summing point Branch point

 ‫א‬

‫א‬ R(s) E(s) C(s) ‫א‬

+ G(s)
‫א‬ - Output

C(s)
‫א‬‫א‬

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E17J1F
 
 
‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
 K‫א‬
E F ‫א‬‫א‬‫א‬‫א‬‫א‬
 H(s) ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 C(s) ‫א‬‫א‬‫א‬KE18-1F
 W B(s) ‫א‬‫א‬
 
  B(s) = H(s)C(s) (3 - 1)

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

R(s) E(s) C(s)

+ G(s)
-
B(s)

H(s)

‫א‬‫א‬‫א‬E18J1F
 
 
 W‫א‬‫א‬‫א‬E18-1F‫א‬‫א‬
 Direct or forward transfer function‫א‬‫א‬‫א‬  J١
 
C(s)
  G(s) = (4 - 1)
E(s)
 
 feedback transfer function‫א‬‫א‬‫א‬  J٢
 
B(s)
  H(s) = (5 - 1)
C(s)
open-loop transfer function‫א‬‫א‬‫א‬‫א‬  J٣
 
  G(s)H(s) = B(s) (6 - 1)
E(s)
 
closed-loop transfer function ‫א‬‫א‬‫א‬‫א‬  J٤
 E5-1F H(s) = 1 ‫א‬E18-1F‫א‬‫א‬‫א‬‫א‬‫א‬

- ٣٢ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 W‫א‬E6-1F
C(s) = G(s)E(s)
 
E(s) = R(s) − B(s) (7 - 1)
 
 WE7-1F‫א‬E2-1F‫א‬
 
  E(s) = R(s) − H(s)C(s)
 W
C(s) = G(s)E(s)
C(s) = G(s)[R(s) - H(s)C(s)
  C(s) = G(s)R(s) - G(s)H(s)C(s)
C(s) + G(s)H(s)C(s) = G(s)R(s)
[1 + G(s)H(s)]C(s) = G(s)R(s)
 
 W‫א‬‫א‬‫א‬‫א‬
 
  C(s) = G(s)
(8 - 1)
R(s) 1 + G(s)H(s)
 
 W‫א‬‫א‬‫א‬‫א‬
 
G(s)
  C ( s) = R(s) (9 - 1)
1 + G(s)H(s)
 
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬ K٨ J١
Closed-loop Control System Subjected to a disturbance
 D(s)   ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R(s)‫א‬،‫א‬‫א‬E19-1F
 W‫א‬‫א‬‫א‬D(s)‫א‬‫א‬

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  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

‫א‬Z‫א‬‫א‬R(s)‫א‬‫א‬ J
 KR(s)‫א‬‫א‬
‫א‬،D(s) 
 ‫א‬‫א‬ ‫א‬R(s)=0‫א‬ J
KD(s)‫א‬

Disturbance
N(s)

R(s) + C(s)
+ G1(s) + G2(s)
-

H(s)

‫א‬‫א‬‫א‬‫א‬ 19 1 

 
 
‫א‬‫א‬ C D (s ) KR(s) ‫א‬‫א‬ C R (s) 
E11-1FE10-1F‫א‬‫א‬‫א‬ K D(sF
 W
C n (s) G2 (s)
  = (10 - 1)
N ( s ) 1 + G1 ( s ) G 2 ( s ) H ( s )
 
C R (s) G1 ( s )G 2 ( s )
  = (11 - 1)
R( s) 1 + G1 ( s )G 2 ( s ) H ( s)
 

- ٣٤ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

R(s)‫א‬‫א‬ ‫א‬‫א‬‫א‬
 W D(s) ‫א‬‫א‬
 
C (s) = C R (s) + C N (s)
  G 2 (s)
= [G1 ( s ) R ( s ) + N ( s )] (12 - 1)
1 + G1 ( s )G 2 ( s ) H ( s )
 
 
 
 
Reduction of Complicated Block ‫א‬‫א‬‫א‬ K٩ J١
 Diagrams
‫א‬‫א‬
 ‫א‬
 ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬ ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬K‫א‬‫א‬
K ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬E3-1F
‫א‬
 ‫א‬‫א‬‫א‬‫א‬ ‫א‬‫א‬‫א‬‫א‬
‫א‬‫א‬‫א‬‫א‬‫א‬E18-1F‫א‬‫א‬‫א‬
 KE3-1F‫א‬‫א‬‫א‬‫א‬‫א‬

- ٣٥ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 :E11-1F
 K‫א‬‫א‬‫א‬‫א‬
G3  
 
C
 
R
G1 G4 G2  
 
 
H1
 
H2
 
 
 
 
 W‫א‬
 
G1 G4 = G1G4  W‫א‬‫א‬
 
 
 
G3
 
 
= G2+G3  W‫א‬‫א‬
G2
 
 
 
 
 
- ٣٦ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
 
 
G1G 4
G1G4 =  W‫א‬‫א‬
1 − G1G 4 H 1
 
 
H1
 
 
 
 W‫א‬‫א‬‫א‬
 
 
 W‫א‬‫א‬
 
R C R G1G 4 (G 2 + G3 )  C
G1G 4 =
G2+G3
1 − G1G 4 H 1 1 − G1G 4 H 1  
 
H2 H2  
 
 
 
 W‫א‬‫א‬
 

- ٣٧ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 WE12-1F
 
 ‫א‬‫א‬‫א‬ ‫א‬C،R 
 ‫א‬‫א‬‫א‬
 ‫א‬‫א‬
 K
R C  
G1 G2 G3
 
 
R  
 
 
 
 
 
 
 
 
 :‫א‬
 
C
G1G2 G3  
 
(‫)أ‬
 
 
 
 
 

- ٣٨ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
R G1G 2 C
G3  
1 − G1G 2 H
 
(‫)ب‬
 
 
 
 
R G1G 2 G3 C
1 − G1G 2 H (‫ )ج‬ 
 
 
 
(‫)د‬  
G1G 2 G3
1 − G1G 2 H + G1G 2 G3  
 
 
 
 WEF‫א‬EF‫א‬‫א‬
 
G 1G 2 G 3

  C(s) = 1 − G 1G 2 H
R(s) GG G
1+ 1 2 3
1 − G 1G 2 H
 
 WE1 − G 1G 2 H F‫א‬‫א‬
 
G1G2 G3
  C (s) =
R( s) 1 + G1G2 H + G1G2 G3
 

- ٣٩ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
 WE13-1F
 K‫א‬‫א‬‫א‬K‫א‬‫א‬
 
 
 WE14-1F
 K‫א‬‫א‬‫א‬‫א‬
 

Qi(s)
1 4  
3 Qo(s)
1 1 1 1  
C1 s R1 C2 s 5
R2
2
6  
 
 
 
 
 W‫א‬
R2
 
Qi(s)
Qo(s)
1 1 1 1  
C1 s R1 C2 s R2
 
 
 
 
 
 
R 2 C1 s
Qi(s)
 
Qo(s)
1 1 1 1  
C1 s R1 C2 s R2
- ٤٠ -
2
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

Qi(s)
Qo(s)  
1 1
R1C1 s + 1 R2 C 2 s − 1  

R 2 C1 s
 
 
 
Qi(s) Qo(s)  
1
R1C1 R2 C 2 s + ( R1C1 + R 2C 2 + R 2C1) s + 1  
 
 
 
 WE15-1F
 K‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
 
D(s)
θi θo  
G1 G2
 
 
(a)  
 :‫א‬
 
θi θ o`
G1G2  
 
(b)  
 

- ٤١ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 
D(s)
 
θ o``
G2  
 
G1  
 
(c)  
 
 
 WE16-1F
 K C ‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬
R
 
H2  
R C
(a) G1 G2 G3
 
 
 
H1  
 
 
 
 
 
 

- ٤٢ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

 :‫א‬
H2
G1  
R C 
(b) G1 G2 G3
 
 
H1
 

 

H2  
G1
 
 
R G1G 2 C
(c) G3
1 − G1G 2 H 1

R G1G 2 G3 C
(d)
1 − G1G 2 H 1 + G 2 G3 H 2

R G1G 2 G3 C
(e)
1 − G1G 2 H 1 + G 2 G3 H 2 + G1G 2 G3

- ٤٣ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J


‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J١
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J٢
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٣
‫؟‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٤
‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J٥
K‫א‬‫א‬‫א‬‫א‬‫א‬‫ א‬ J٦
 
(a) R(s) 10 C(s)
 
K0 1
  s +1
 
  K1
  ( s + 2)

 
K2
s+3

(b) R(s) G1(s) G2(s) C(s)

H1

H2

- ٤٤ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

H2

(c) R(s) G1 G2 G3 C(s)

a

H1
 

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J٧
K‫א‬
H3
R(s) C(s
G1 G2 G3 G4

H1

H2

G5

 K C ( s) ‫א‬‫א‬‫א‬‫א‬‫ א‬ J٨
R( s)

H5 H4
R C
G1 G2 G3 G4

H3

H2

H1  

- ٤٥ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

K C(s) ‫א‬‫א‬‫א‬  J٩
R2(s R3(s

R1(s G1 G3 G4 C(s

G2 H2
 
H 
1

 
  R4(s)

K‫א‬‫א‬‫א‬‫א‬‫א‬  J١٠
 

H2

R d G1 c G2 G3 C

H1
a

G4

‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬‫א‬  J١١
W‫א‬
 

- ٤٦ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

  Y(s) ,
Y(s)
,
E(s)
,
E(s)
R(s) N =0
N(s) R =0 R(s) N =0
N(s) R =0

N(s)
G1(s)

E(s)
R(s) G2(s) G3(s) Y(s)

H1(s)

‫א‬K‫א‬‫א‬‫א‬‫א‬  J١٢
W‫א‬‫א‬‫א‬
  Y5 , YG
4
,4
Y2
,
Y5
Y1 Y1 Y1 Y2

1 G1 G2 G3 1  
Y4 Y5
Y1 Y2 Y3
-H1 -H2 Y5

(a)

-H4
G4

1 G1 G2 G3 1
(b)
Y1 Y2 Y3 Y4
-H1 Y5 Y5
-H2
-H3

- ٤٧ -
  ‫א‬‫א‬  ٢٠٧ ‫א‬
‫א‬‫א‬   J‫א‬‫א‬ ‫א‬ J

G4

1 G1 G2 G3 1
(c)
Y1 Y3 Y4 Y5
Y2 -H1 Y5
-H3
-H2
G4

1 G1 G2 G3 1
(d)
Y1 Y3 -H Y4 Y5
Y2 -H1 2 Y5

-H3

-H3
 
 
G4
G5
1 G1 G2 G3 1
(e)
Y1 Y2 Y3 -H Y4 -H2 Y5
1 Y5

-H3

- ٤٨ -