ME2142/ME2142E Feedback Control Systems

Block Diagram Algebra

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Representation

A block diagram is a graphical tool can help us to visualize the

model of a system and evaluate the mathematical relationships
between their elements, using their transfer functions.

The Transfer Function Block

R(s) C(s) C (s )
Input G(s) Output G ( s) =
System R( s )

The transfer function G(s) is

§ defined only for a linear time-invariant system and not
for nonlinear systems.
§ Is a property of the system and is independent of the
input to the system.
§ Commutative G1G 2 = G2 G1
§ Associative G1 + G2 = G2 + G1

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Elements

The Summing Point

X
Signed inputs
+
Y + +X+Y- Z
- output

§ Any number of inputs. Only one output

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Algebra

When manipulating block diagrams, the original relationships, or

equations, relating the various variables must remain the same.

Blocks in series or cascaded blocks

X Y Z X Z
G1 G2 G1 G2

§ When blocks are connected in series, there must be no

loading effect.

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Algebra

Blocks in parallel
Y=G1X+G2X Y=G1X+G2X

G2
X Y
+ G1 + G2
+ Y
X G1

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Algebra

Z=GX+GY
X + Z X + Z
G G
+ +
Y
Y G
Z=G(X+Y)

X Y
X Y G
G

X
X 1/G

Z=G(X+Y/G)
X + Z
X + Z G
G
+
+ Y
1/G
Y Z=GX+Y

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ME2142/TM3142 Feedback Control Systems
 Closed-Loop Feedback System

R + E C
G
-
B
H

R is called the reference input

C is the output or controlled variable
B is the feedback
E = (R – B) is the error

C
=G is called the feedforward transfer function
E
B
= GH is called the open-loop transfer function
E

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ME2142/TM3142 Feedback Control Systems
 Closed-Loop Feedback System

C = GE
R + E C = G(R – B)
G = G(R – HC)
-
C(1 + GH) = GR
B
H C G
=
R 1 + GH

C
is the closed-loop transfer function
R

C E 1C 1
Also E = and = =
G R G R 1 + GH

E
is called the error transfer function
R

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ME2142/TM3142 Feedback Control Systems
 Closed-Loop Control Feedback System

R E M + + C
+
Gc Gp
-
B
H

Gc is the controller transfer function

Gp is the plant transfer function
M is the manipulated variable
D is the external disturbance
C
= Gc G p is the feedforward transfer function
E

B
= Gc G p H is the open-loop transfer function
E

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ME2142/TM3142 Feedback Control Systems
 Closed-Loop Control Feedback System

R E M + + C
+
Gc Gp
-
B
H
C G Gc G p
= =
R 1 + GH 1 + Gc G p H

Assuming R = 0, we can re-draw

D + C
Gp
- C G Gp
= =
D 1 + GH 1 + G p Gc H
GcH

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Manipulation

Example: Determine C(s)/R(s)

Da
a
D E

+ +
R + + +
G + C
F
- -

I When manipulating blocks,

must ensure C(s) does not
change, so that C(s)/R(s)
remains same.

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Manipulation

Example: Determine C(s)/R(s) We wish to move this

signal to before block F

Assume names of
signals as shown
b = Fa-Fc+Da

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Manipulation

Example: Determine C(s)/R(s) To move signal b to

after Block G

Assume names of
signals as shown
b = Fa-Fc+Da b = Fa-Fc+(D/F)aF

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Manipulation

Example: Determine C(s)/R(s)

Da (D/F)a Eb
a
D E D/F E
a b
+ +
R + + +
G + C R + +
+
+
+
C
F F G
- - - -

H H Gb

I I

C = Gb + Eb
E/G Eb

+ C
R + + Gb + C R + +
FG
1+D/F FG 1+D/F 1+E/G
- - - -

H H

I I
C = Gb + (E/G)Gb

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ME2142/TM3142 Feedback Control Systems
 Block Diagram Manipulation

Example G
1 + GH

R + + C R FG C
1+D/F FG 1+E/G +
1+D/F 1+E/G
- -
- 1 + FGH
H

I I

R +  D  FG  E  C  D  FG  E 
1 +  1 +   1 +   1 + 
-  F  1 + FGH  G  R  F  1 + FGH  G  C
1 + 1 + 
D FG  E 
1 +  I
 F  1 + FGH  G 
I

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ME2142/TM3142 Feedback Control Systems
 End

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ME2142/TM3142 Feedback Control Systems