CONTROL

SYSTEMS THEORY

Reduction of Multiple Subsystems

CHAPTER 3
STB 35103
Objectives
 To reduce a block diagram of multiple
subsystems to a signal block representing
the transfer function from input to output
Introduction
 Before this we only worked with individual
subsystems represented by a block with its
input and output.

 Complex systems are represented by the

interconnection of many subsystems.

 In order to analyze our system, we want to

represent multiple subsystems as a single
transfer function.
Block diagram
 A subsystems is represented as a block
with an input and output and a transfer
function.

 Many systems are composed of multiple

subsystems. So, we need to add a few
more schematic elements to the block
diagram.
 Summing junction
 Pickoff points
Block diagram
Block diagram
 Summing junction
 Output signal, C(s), is the algebraic sum of the
input signals, R1(s), R2(s) and R3(s).

 Pickoff point
 Distributes the input signals, R(s),
undiminished, to several output points.
Block diagram
 There are three topologies that can be
used to reduce a complicated system to a
single block.

 Cascade form
 Parallel form
 Feedback form
Block diagram
 Cascade form
 a. cascaded subsystem
 b. equivalent transfer function
 Equivalent transfer function is the output
divided by the input.
Block diagram
 Parallel form
 Parallel subsystems have a common input and
output formed by the algebraic sum of the
outputs from all of the subsystems.
Block diagram
 Feedback form
 It is the same as the closed loop system that
we learn in Chapter 1.
 a. closed loop system
 b. closed loop, G(s)H(s) is open loop transfer
function
Block diagram
 Moving blocks to create familiar forms

 Cascade, parallel and feedback topologies are

not always apparent in a block diagram.

 You will learn block moves that can be made in

order to establish familiar forms when they
almost exist. I.e. move blocks left and right
past summing junctions and pickoff points.
Block diagram
Block diagram
algebra for summing
junctions—
equivalent forms for
moving a block

a. to the left past a

summing junction;
b. to the right past a
summing junction
Block diagram
Block diagram
algebra for pickoff
points—
equivalent forms
for moving a
block
a. to the left past
a pickoff point;
b. to the right
past a pickoff
point
Block diagram
Block diagram reduction via familiar forms
Example:
Reduce the block diagram to a single
transfer function.
Block diagram
Solution:
Steps in solving
Example 5.1:
a. collapse summing
junctions;
b. form equivalent
cascaded system
in the forward path
and equivalent
parallel system in the
feedback path;
c. form equivalent
feedback system and
multiply by cascaded
G1(s)
Block diagram
Block diagram reduction by moving blocks
Example:
Reduce the system shown to a single
transfer function.
Block diagram
Solution:
First, move G2(s) to the left past the pickoff point
to create parallel subsystems, and reduce the
feedback system consisting of G3(s) and H3(s).
Block diagram
Second, reduce the parallel pair consisting of
1/g2(s) and unity and push G1(s) to the right past
the summing junction, creating parallel subsystems
in the feedback.
Block diagram
Third, collapse the summing junctions, add the two
feedback elements together, and combined the last
two cascaded blocks.
Block diagram
Fourth, use the feedback formula to obtain
figure below

Finally multiply the two cascaded blocks and

obtain the final result.
Block diagram
Exercise:
Find the equivalent transfer function,
T(s)=C(s)/R(s)
Solution
 Combine the parallel blocks in the forward path. Then, push 1/s to
the left past the pickoff point.
 Combine the parallel feedback paths and get 2s. Apply the
feedback formula and simplify
Block diagram reduction
rules
 Summary
Block diagram reduction
rules
Signal-Flow graphs
 Alternative method to block diagrams.
 Consists of
 (a) Branches
 Represents systems
 (b) Nodes
 Represents signals
Signal-Flow graphs
 Interconnection of systems and signals

 Example
 V(s)=R1(s)G1(s)-R2(s)G2(s)+R3(s)G3(s)
Signal-Flow graphs
 Cascaded system

Block diagram

Signal flow
Signal-Flow graphs
 Parallel system

Block diagram

Signal flow
Signal-Flow graphs
 Feedback system

Block diagram

Signal flow
SFG
Question
 Given the following block diagram, draw a
signal-flow graph
Solution
Mason’s rule
 What?
 A technique for reducing signal-flow graphs to
single transfer function that relate the output
of system to its input.

 We must understand some components

before using Mason’s rule
 Loop gain
 Forward-path gain
 Nontouching loops
 Nontouching-loop gain
Mason’s rule

 Loop gain
 Product of branch gains found by going through a path
that starts at a node and ends at the same node,
following the direction of the signal flow, without
passing through any other node more than once.
 G2(s)H1(s)
 G4(s)H2(s)
 G4(s)G5(s)H3(s)
 G4(s)G6(s)H3(s)
Mason’s rule

 Forward-path gain
 Product of gains found by going through a path from the
input node of the signal-flow graph in the direction of
signal flow.
 G1(s)G2(s)G3(s)G4(s)G5(s)G7(s)
 G1(s)G2(s)G3(s)G4(s)G6(s)G7(s)
Mason’s rule

 Nontouching loops
 Loops that do not have any nodes in common.
 Loop G2(s)H1(s) does not touch loops G4(s)H2(s),
G4(s)G5(s)H3(s) and G4(s)G6(s)H3(s)
Mason’s rule

 Nontouching-loop gain
 Product of gains form nontouching loops taken
two, three, four, or more at a time.
 [G2(s)H1(s)][G4(s)H2(s)]
 [G2(s)H1(s)][G4(s)G5(s)H3(s)]
 [G2(s)H1(s)][G4(s)G6(s)H3(s)]
Mason’s rule
 The transfer function, C(s)/R(s), of a system
represented by a signal-flow graph is

C (s) T k k
G (s)   k
R( s) 

k  number of forward path

Tk  the kth forward - path gain
Mason’s rule

 k  formed by eliminating from 

those loop gains that touch the kth forward path.

  1 -  loop gains
  nontouching loop gains taken two at a time
  nontouching loop gains taken three at a time
  nontouching loop gains taken four at a time 
Example
 Draw the SFG representation
Solution
 SFG
Solution
Mason’s rule
Question
 Using Mason’s rule, find the transfer
function of the following SFG
Solution
Exercise 1
 Apply Mason’s rule to obtain a single
transfer function
Exercise 2
1. Reduce to a single transfer function (BDR)
2. Draw the SFG representation
3. Apply Mason’s rule to obtain the transfer function