Control Systems (CS)

Lecture-06
Block Diagram Representation of Control
Systems (Part B)

Dr. Dhafer Manea Hachim AL-HASNAWI

Assist Proof
Al-Furat Al-Awsat Technical University
Engineering Technical College / Najaf
email:coj.dfr@atu.edu.iq

1
 Example-7
• 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=100.

2
 Example-8

H2

R _ C
+_ + G1 + G2 G3
+

H1

3
 Example-8
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

4
 Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

5
 Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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

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

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 block diagram: reduction example

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

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 Example 9
Find the transfer function of the following block diagram

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

H2
H1

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 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

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

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4. Eliminate loop III

R(s) Y (s)
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3

R(s) G1 (G4  G2G3 ) Y (s)

1  G1G 2 H1  H 2 (G4  G2G3 )

Y (s) G1 (G4  G2G3 )


R( s ) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1(G4  G2G3 )
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Example 10
Find the transfer function of the following block diagrams

R(s) Y (s)
G1 G2

H1 H2

H3

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Solution:

1. Eliminate loop I

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

H3
2. Moving pickoff point A behind block G2
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 15
3. Eliminate loop II

R(s) G1G2 Y (s)

1  G2 H 2

H1 (1  G2 H 2 )
H3 
G2

Y (s) G1G2

R( s ) 1  G2 H 2  G1G2 H 3  G1H1  G1G2 H1H 2

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 Example 11
Find the transfer function of the following block diagrams

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

H3

H2

H1

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 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

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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 H1
1  G3G4 H 4  G2G3 H 3 G4
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3. Eliminate loop II & IIII

R(s) G1G2G3G4 Y (s)

1  G3G4 H 4  G2G3 H 3

H 2  G4 H1
G4

Y (s) G1G2G3G4

R( s ) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1

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Example 12
Find the transfer function of the following block diagrams

H2

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

H1

G4

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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

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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 23
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

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Example-13: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.

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Example-13: Continue.

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Example-13: Continue.

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Example-14: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.

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Example-14: Continue.

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Example-14: Continue.

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Example-15: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.

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Example-15: Continue.

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 Example-15: Continue.

When R1 = 0,

When R2 = 0,

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Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J


La s  Ra I a(s)  K b(s)  Va(s)

Js  c (s)  K ma I a(s)

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Block Diagram of Armature Controlled D.C Motor

La s  Ra I a(s)  K b(s)  Va(s)

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Block Diagram of Armature Controlled D.C Motor

Js  c(s)  K ma I a(s)

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Block Diagram of Armature Controlled D.C Motor

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