Modern Control

Engineering
System’s Representation

Roxcella Y. Tenedero-Reas
Electrical & Electronics Engineering Dept.
Eastern Visayas State University
Block Diagram Representation
Block Diagram
A block diagram of a system is a pictorial representation of the
function performed by each component of the flow of signal. It
depicts the existence of interrelationship that exist among various
components

Elements of block diagram

x(s) y(s) = x(s)G(s)

Input Process Output

Signal Signal
Block Diagram Representation
Summing points
A symbol that indicates summing operation.
The plus or minus sign at each arrowhead
Indicates whether that signal is to be added
or subtracted.

Branch points
A point from which the signal from a block x(s) x(s)
goes concurrently to other blocks or
Summing points.

x(s)
Block Diagram Of A Closed Loop Sys.

Feedback

Step 1: Open Loop Transfer function

G(s) H(s)
E(s) C(s) B(s)

C ( s) B ( s)
G ( s) = H ( s) =
E ( s) C ( s)
B ( s)
H ( s) G ( s) =
E ( s)
Block Diagram Of A Closed Loop Sys.

Feedback

Step 2:Close Loop Transfer function

E ( s) = R ( s) - B ( s) C ( s) = E ( s) G ( s)

B ( s) = H ( s) C ( s) C ( s) = �
R ( s) - H ( s) C ( s) �
� �G ( s)

E ( s) = R ( s) - H ( s) C ( s) C ( s) G ( s)
=
R ( s) 1+ H ( s) G ( s)
Block Diagram Of A Closed Loop Sys.
Example: Automatic Control

Feedback
Block Diagram Of A Parallel
Cascaded System
Cascaded System C ( s ) = G1 ( s ) G2 ( s ) R ( s )
C ( s)
= G1 ( s ) G2 ( s )
R ( s)
Parallel System
C ( s) = �
�G1 ( s ) + G2 ( s ) �
�R ( s )
C ( s)
= G1 ( s ) + G2 ( s )
R ( s)
Block Diagram Of A Parallel
Cascaded System
Cascaded System C ( s ) = G1 ( s ) G2 ( s ) R ( s )
C ( s)
= G1 ( s ) G2 ( s )
R ( s)
Parallel System
C ( s) = �
�G1 ( s ) + G2 ( s ) �
�R ( s )
C ( s)
= G1 ( s ) + G2 ( s )
R ( s)
Block Diagram Reduction
Any complicated block diagram involving many feedback
loops can be simplified by a step-by-step rearrangement

Notes in simplifying a block diagram

1. The product of the transfer functions in the feed

forward direction must remain the same
2. The product of the transfer functions around the loop
must remain the same
Block Diagram Reduction
Example

x ( s) � G2 ( s ) � � �
= G1 ( s ) � � � �
y ( s) � 2( ) 1( ) �
1 + G s H s x ( s) � G1 ( s ) G2 ( s ) �
=�
y ( s) �H1 ( s ) ��
x( s) G1 ( s ) G2 ( s )
�1 + G2 ( s ) G1 ( s ) � ��
= �
� �G1 ( s ) ��
�
y ( s) 1 + G2 ( s ) H1 ( s )
x ( s) G1 ( s ) G2 ( s )
=
y ( s) 1 + G2 ( s ) H1 ( s )
Block Diagram Reduction
Example

� �
� �
x ( s) � G1 ( s ) � x ( s) � G1 ( s ) G2 ( s ) �
= G2 ( s ) � � =�
y ( s) � 1( ) 1( ) �
1 + G s H s y ( s) �H1 ( s ) ��
�1 + G2 ( s ) G1 ( s ) � ��
� � G2 ( s ) ��
x ( s) G1 ( s ) G2 ( s ) � �
= x ( s) G1 ( s ) G2 ( s )
y ( s) 1 + G1 ( s ) H1 ( s ) =
y ( s) 1 + G1 ( s ) H1 ( s )
Block Diagram Reduction
Example
Simplify the diagram shown below
Block Diagram Reduction
Sol.

1/G1

1/G3
Block Diagram Reduction
Sol. Cascaded
1/G1 H2
- Cascaded
R C
G1 G2 G3

- + Cascaded
H1 1/G3
Block Diagram Reduction
Sol
Parallel
H2/G1

-
R G1G2G3 C

- +
H1/G3
Block Diagram Reduction
Sol.

R G1G2G3 C

-
1- H1/G3 + H2/G1

R G1G2G3 C
1 - G1G2 H1 + G2G3 H 2 + G1G2G3
 Modern Control
Engineering
System’s Response

Roxcella Y. Tenedero-Reas
Electrical & Electronics Engineering Dept.
Eastern Visayas State University
System’s Response
ODE

Transfer function
System’s Response
Linear Time-Invariant (LTI)
System’s Response

Let

From

Then

Assume that

Then
System’s Response
System’s Response
System’s Response
 Modern Control
Engineering
The Input Signals

Roxcella Y. Tenedero-Reas
Electrical & Electronics Engineering Dept.
Eastern Visayas State University
The Input Signals
The Input Signals
The Input Signals
The Input Signals
The Input Signals