INTRODUCTION TO

CONTROL SYSTEMS
Block Diagram Manipulation
Introduction
• After the dynamic system are represented
mathematically, the differential equations are
generated. Then, the input – output relation can
be represented by transfer function.
• The transfer function can further be deducted
from simplified block diagram or by manipulating
the signal flow graph.
Block Diagram Manipulation
• Series – block diagram reduction
s
r G1 G2 y

r G1 G2 y
or
r G2 G1 y
• Parallel – block diagram reduction
r G1 y
+
G2

r G1 + G2 y
• Closed Loop
e
r G(s) y
–
b H(s)

Simple equation manipulation:

b = H . y and e = r – b = r – H y
But,
y = e. G
Hence:
y = G (r – H y) = Gr – GHy
Rearranging:
y G
y (1 + GH) = r G TR = =
r 1 + GH
Trick! e
r G(s) y
–
b H(s)

Negative Feedback Transfer Function =

y G
=
r 1 + GH
Negative Feedback Transfer Function =
y Feedforward Transfer Function
=
r 1 + Feedforward.Feedback
Trick! e
r G(s) y
– ff
b H(s)
fb
Negative Feedback Transfer Function =
Examples
e
r y
–
b 10
Examples
e
r y
–
2
Examples
e +
r y
– +
Block Diagram Transformation
1. Combining Block in Cascade:

s
r G1 G2 y

r G1 G2 y
or
r G2 G1 y
2. Moving a Summing Point Behind a Block :
x1 G(s) x3
–
+
x2

x1 G(s) x3
–
+ G(s)
x2
3. Moving Summing Point Ahead of a Block :
x1 G(s) x3
–
+
x2

x1 G(s) x3
–
+
1/ G(s)
x2
4. Moving a Pickoff Point Ahead of a Block :
x1 G(s) x2

x2

x1 G(s) x2

G(s)
x2
5. Moving a Pickoff Point Behind a Block :

x1 G x2

x1

x1 G x2

x1 1/ G
6. Eliminating a Feedback Loop :
x1 G x2
–
+ H

G
x1 x2
1±GH
 Example:
Reduction of Block Diagram
H2
–
R(s) + + + Y(s)
G1 G2 G3 G4
– +
H1

H3
 Moving a Pickoff Point Behind a Block
H2
G4
–
R(s) + + + Y(s)
G1 G2 G3 G4
– +
H1

H3
 Eliminating a Positive Feedback Loop :

H2
G4
–
R(s) + + G3 G4 Y(s)
G1 G2
– 1 – G3 G4 H1

H3
R(s) + G2 G3 G4 Y(s)
G1
– 1 – G3 G4 H1 +G2 G3 H2

H3

R(s) G1G2 G3 G4 Y(s)

1 – G3 G4 H1 +G2 G3 H2 + G1G2 G3 G4 H3