BLOCK DIAGRAMS

By:
Prof. K Puttaswamy,
PESCE, Mandya

eNotes for the session on 04.04.05 on

VTU EDUSAT Programme

Control Systems - Prof K Puttaswamy, PESCE, Mandya 1

 Block Diagram
A control system may consist of a number of components. In order to show the functions
performed by each component in control engineering, we commonly use a diagram called the
“Block Diagram”.

A block diagram of a system is a pictorial representation of the function performed by

each component and of the flow of signals. Such a diagram depicts the inter-relationships which
exists between the various components. A block diagram has the advantage of indicating more
realistically the signal flows of the actual system.

In a block diagram all system variables are linked to each other through functional
blocks. The “Functional Block” or simply “Block” is a symbol for the mathematical operation on
the input signal to the block which produces the output. The transfer functions of the components
are usually entered in the corresponding blocks, which are connected by arrows to indicate the
direction of flow of signals. Note that signal can pass only in the direction of arrows. Thus a
block diagram of a control system explicitly shows a unilateral property.

Fig 1.1 shows an element of the block diagram. The arrow head pointing towards the block
indicates the input and the arrow head away from the block represents the output. Such arrows
are entered as signals.

X(s)
G(s) Y(s)
Fig 1.1

The advantages of the block diagram representation of a system lie in the fact that it is
easy to form the over all block diagram for the entire system by merely connecting the blocks of
the components according to the signal flow and thus it is possible to evaluate the contribution of
each component to the overall performance of the system. A block diagram contains information
concerning dynamic behavior but does not contain any information concerning the physical
construction of the system. Thus many dissimilar and unrelated system can be represented by the
same block diagram.

Control Systems - Prof K Puttaswamy, PESCE, Mandya 2

 It should be noted that in a block diagram the main source of energy is not explicitly
shown and also that a block diagram of a given system is not unique. A number of a different
block diagram may be drawn for a system depending upon the view point of analysis.

Error detector : The error detector produces a signal which is the difference between the
reference input and the feed back signal of the control system. Choice of the error detector is
quite important and must be carefully decided. This is because any imperfections in the error
detector will affect the performance of the entire system. The block diagram representation of
the error detector is shown in fig1.2

+
R(s) C(s)
-

C(s)
Fig1.2

Note that a circle with a cross is the symbol which indicates a summing operation. The plus or
minus sign at each arrow head indicates whether the signal is to be added or subtracted. Note
that the quantities to be added or subtracted should have the same dimensions and the same units.

Block diagram of a closed loop system .

Fig1.3 shows an example of a block diagram of a closed system

Summing point
Branch point
R(s) C(s)
+ G(s)
-

Fig. 1.3

Block diagram of a closed loop system.

The output C(s) is fed back to the summing point, where it is compared with reference
input R(s). The closed loop nature is indicated in fig1.3. Any linear system may be represented
by a block diagram consisting of blocks, summing points and branch points. A branch is the

Control Systems - Prof K Puttaswamy, PESCE, Mandya 3

point from which the output signal from a block diagram goes concurrently to other blocks or
summing points.

When the output is fed back to the summing point for comparison with the input, it is
necessary to convert the form of output signal to that of he input signal. This conversion is
followed by the feed back element whose transfer function is H(s) as shown in fig 1.4. Another
important role of the feed back element is to modify the output before it is compared with the
input.
B(s)
R(s) + C(s)
G(s) C(s)
-
B(s)
H(s)

Fig 1.4

The ratio of the feed back signal B(s) to the actuating error signal E(s) is called the open
loop transfer function.
open loop transfer function = B(s)/E(s) = G(s)H(s)
The ratio of the output C(s) to the actuating error signal E(s) is called the feed forward
transfer function .
Feed forward transfer function = C(s)/E(s) = G(s)
If the feed back transfer function is unity, then the open loop and feed forward transfer
function are the same. For the system shown in Fig1.4, the output C(s) and input R(s) are related
as follows.
C(s) = G(s) E(s)
E(s) = R(s) - B(s)
= R(s) - H(s)C(s) but B(s) = H(s)C(s)
Eliminating E(s) from these equations
C(s) = G(s)[R(s) - H(s)C(s)]
C(s) + G(s)[H(s)C(s)] = G(s)R(s)
C(s)[1 + G(s)H(s)] = G(s)R(s)

Control Systems - Prof K Puttaswamy, PESCE, Mandya 4

 C(s) G(s)
=
R(s) 1 + G(s)H(s)
C(s)/R(s) is called the closed loop transfer function.

The output of the closed loop system clearly depends on both the closed loop transfer
function and the nature of the input. If the feed back signal is positive, then
C(s) G(s)
=
R(s) 1 - G(s)H(s)

Closed loop system subjected to a disturbance

Fig1.5 shows a closed loop system subjected to a disturbance. When two inputs are
present in a linear system, each input can be treated independently of the other and the outputs
corresponding to each input alone can be added to give the complete output. The way in which
each input is introduced into the system is shown at the summing point by either a plus or minus
sign.

Disturbance
N(s)

R(s) +
+ +
-
G1(s) G2(s) C(s)

H(s)
Fig1.5
Fig1.5 closed loop system subjected to a disturbance.

Consider the system shown in fig 1.5. We assume that the system is at rest initially with
zero error. Calculate the response CN(s) to the disturbance only. Response is
CN(s) G2(s)
=
R(s) 1 + G1(s)G2(s)H(s)

On the other hand, in considering the response to the reference input R(s), we may
assume that the disturbance is zero. Then the response CR(s) to the reference input R(s)is
Control Systems - Prof K Puttaswamy, PESCE, Mandya 5
 CR(s) G1(s)G2(s)
=
R(s) 1 + G1(s)G2(s)H(s).

The response C(s) due to the simultaneous application of the reference input R(s) and the
disturbance N(s) is given by
C(s) = CR(s) + CN(s)
G2(s)
C(s) = [G1(s)R(s) + N(s)]
1 + G1(s)G2(s)H(s)

Procedure for drawing block diagram :

To draw the block diagram for a system, first write the equation which describe the dynamic
behaviour of each components. Take the laplace transform of these equations, assuming zero
initial conditions and represent each laplace transformed equation individually in the form of
block. Finally assemble the elements into a complete block diagram.
As an example consider the Rc circuit shown in fig1.6(a). The equations for the circuit shown
are
R

ei i eo
C

Fig. 1.6a

ei = iR + 1/c idt -----------(1)

And
eo = 1/c idt ---------(2)
Equation (1) becomes
ei = iR + eo
ei - eo
=i --------------(3)
R
Laplace transforms of equations (2) & (3) are
Eo(s) = 1/CsI(s) -----------(4)

Control Systems - Prof K Puttaswamy, PESCE, Mandya 6

 Ei(s) - Eo(s)
= I(s) --------(5)
R

Equation(5) represents a summing operation and the corresponding diagram is shown in

fig1.6(b). Equation (4) represents the block as shown in fig1.6(c). Assembling these two
elements, the overall block diagram for the system shown in fig1.6(d) is obtained.

Fig1.6(b)
I(s) Eo(S)
1/CS
Ei(s) + 1/R I(s)
_ Fig1.6(c)
Eo(s)
Eo(s) + 1/R
I(s) 1/CS
Eo(s)
Fig1.6(b) _

Fig1.6(d)

REFERENCE: 1. MODERN CONTROL ENGINEERING BY OGATA

2. AUTOMATIC CONTROL SYSTEMS BY B.C. KHO

Control Systems - Prof K Puttaswamy, PESCE, Mandya 7