Block Diagram Arithmetic

MEEN 4344 Control of Systems

By
Pranav Phadke
Course Progress
1. Introduction
2. Mathematical modeling
3. Block diagram arithmetic
4. Time response
5. Stability of system
6. Steady-state error
7. Root locus design
1. Creating root locus
2. Compensator design via root locus
1. Improving steady-state error
2. Improving transient response
3. Improving transient & steady-state error
Basic elements of block diagrams
Cascaded or series form

MATLAB syntax:
T=series(G1,G2,G3)
Parallel form

MATLAB syntax:
T=parallel(G1,G2,G3)
Feedback System

MATLAB syntax:
T=feedback(G,H,feedback_type)
where feedback_type is.
-1 for -ve feedback(default)
+1 for +ve feedback

‘+’ for negative feedback

‘-’ for positive feedback
Example 1: Find the equivalent block diagram and TF
Example 2: Find the equivalent block diagram and TF
Block diagram reduction in MATLAB
• MATLAB can be used to find equivalent TF for systems with complex
architecture
• All sub-system blocks (their TFs) have to clearly defined in MATLAB using ‘tf()’
• Blocks are then appended and are serially numbered(ID) in the order they are
defined in ‘append()’
• Input block and output block are then defined using the same ID from the
previous step
• All the interconnections are then defined for each of the block using their IDs in
a form of a matrix
• Finally all the prior information is used to connect the system blocks and
performs the reduction using ‘connect()’
Block diagram reduction in MATLAB
• Example: Find the equivalent TF for the system below using MATLAB
ID:2
ID:1 ID:3

ID:4
H1
ID:5
H2
• Define all the TFs including the unity feedback TFs in the system using MATLAB
comp=tf(K,1);moco=tf(5,[1 2 0]);veh=tf(1,[1 3 0]);H1=tf(1,1);H2=tf(1,1);
Note that K is a constant gain and needs to be defined!
• Sub-systems are appended to each other while serially numbering them
sys=append(comp,moco,veh,H1,H2);
• Input and output blocks are then defined using their IDs
ip=1;op=3;
Block diagram reduction in MATLAB
ID:2
Interconnection Matrix:
ID:1 ID:3 1 −5 0 0 0
2 1 −4 0 0
𝑄= 3 2 0 0 0
4 2 0 0 0
5 3 0 0 0
• Block 1 is getting negative(-)
ID:4
H1 feedback of block 5
ID:5
• Block 2 is getting positive o/p
H2
signal from 1 and negative
feedback of 4
• How can you interpret row 3 of Q?
• Block interconnections have to be defined as well
Q=[1,-5,0,0,0;2,1,-4,0,0;3,2,0,0,0;4,2,0,0,0;5,3,0,0,0];
• Finally all the information combined and passed on for reduction process
T=connect(sys,Q,ip,op);
• This reduced state-space form of the system is converted to TF using ‘tf()’
Tf=tf(T)