Automatic Control Theory

Dr. Abdel Gayed Fathy Mohamed

Block Diagram
 Introduction
A Block Diagram is a shorthand pictorial representation
of the cause-and-effect (i/p & o/p) relationship of a
system.

The interior of the rectangle representing the block

usually contains a description of or the name of the
element, or the symbol for the mathematical operation to
be performed on the input to yield the output.

The arrows represent the direction of information or

signal flow.
d y
x dt
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 Summing Point
 The operations of addition and subtraction have a special
representation.

 The block becomes a small circle, called a summing point,

with the appropriate plus or minus sign associated with the
arrows entering the circle.

 The output is the algebraic sum of the inputs.

 Any number of inputs may enter a summing point.

 Some books put a cross in the circle.

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 Takeoff Point (Node)
In order to have the same signal or variable be an
input to more than one block or summing point, a
Takeoff Point (Node) is used.

This permits the signal to proceed unaltered along

several different paths to several destinations.

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 Example :-
 Consider the following equations in which x1, x2, x3, are
variables, and a1, a2 are general coefficients or mathematical
operators called Gains.
x3  a1 x1  a 2 x2  5

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 Example:-
 Consider the following equations in which x1, x2, x3, are
variables, and a1, a2 are general coefficients or mathematical
operators called Gains.
x3  a1 x1  a 2 x2  5

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 Example -2
 Draw the Block Diagrams of the following equations.

dx1 1
(1) x2  a1   x1dt
dt b
d 2 x2 dx1
( 2) x3  a1 3  bx1
dt 2 dt

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Canonical Form of A Feedback Control System

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 Characteristic Equation
• The control ratio is the closed loop transfer function of the
system.
C( s ) G( s )

R( s ) 1  G( s ) H ( s )

• The denominator of closed loop transfer function determines the

characteristic equation of the system.

• Which is usually determined as:

1  G( s ) H ( s )  0
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 Reduction of Complicated Block Diagrams
The block diagram of a practical control system is often
quite complicated.

It may include several feedback or feedforward loops,

and multiple inputs.

By means of systematic block diagram reduction, every

multiple loop linear feedback system may be reduced to
canonical form.

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 Reduction Techniques
1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel (Feed Forward)

G1
G1  G2
G2
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 Reduction Techniques
3. Moving a summing point behind a block

G G
G

4. Moving a summing point ahead of a block

G G
1
G

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 Reduction Techniques
5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G

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7. Eliminating a feedback loop
G
G
1 GH
H

G
G
1 G

H 1

8. Swap with two neighboring summing points

A B B A

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Example -: Reduce the Following Block Diagram

• Combine all cascade block using rule-1

• Combine all parallel block using rule-2

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Example : Continued

𝐺 2+ 𝐺3
𝐺1 𝐺 4

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 Example -: Continued
• Eliminate all minor feedback loops using rule-7

• After the elimination of minor feedback loop the block diagram is reduced to

• Again blocks are in cascade are removed using rule-1

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Example -4: Continued

H2

R _ C
+_ + G1 + G2 G3
+

H1

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Example -4: Continued
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

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Example -4: Continued
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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Example -4: Continued
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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Example -4: Continued
H2
G1
R _ G1G2 C
+_ + G3
1  G1G2 H1

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Example -4: Continued
H2
G1
R _ G1G2G3 C
+_ +
1  G1G2 H1

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Example -4: Continued

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

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Example-5: Multiple Input System.
Determine the output C due to inputs R and U using the Superposition Method.

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Example-5: Continued

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Example-5: Continued

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