Chapter 5

Reduction of Multiple Subsystems

Part-1

Modern Control Systems

Course Teacher
Mohammad Zohurul Islam
Senior Lecturer, EEE
American International University-Bangladesh
Introduction

In this chapter, multiple subsystems are represented in two ways: as block

diagrams and as signal-flow graphs. Although neither representation is limited to
a particular analysis and design technique, block diagrams are usually used for
frequency-domain analysis and design, and signal-flow graphs for state-space
analysis.
Outline
• Introduction
• Canonical Form
• Reduction of complicated Block diagrams
• Examples of Block Diagram

3
Canonical Form of A Feedback Control System

5
 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 determined as:

1  G( s )H ( s ) = 0

6
 Example
1. Open loop transfer function G(s) H (s)

2. Feed Forward Transfer function G (s )

C( s ) G( s ) G(s )
3. control ratio =
R( s ) 1 + G( s )H ( s )

B( s ) G( s )H ( s )
4. feedback ratio =
R( s ) 1 + G( s )H ( s )
E( s ) 1 H (s )
5. error ratio =
R( s ) 1 + G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function =
R( s ) 1 + G( s )H ( s )

7. characteristic equation 1 + G( s )H ( s ) = 0

8. closed loop poles and zeros if K=10. 8

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.

9
Rules for Solving Block Diagram
1. Blocks in cascaded (series) form:

2. Combining blocks in parallel:

3. Eliminating a feedback loop:

The system is said to have negative feedback The product, G(s)H(s) is called the open-loop
if the sign at the summing junction is negative transfer function, or loop gain.
and positive feedback if the sign is positive.
Cont…
4. Moving a block to the left past a pickoff point: 6. Moving a block to the left past of a summing junction:

5. Moving a block to the right past a pickoff point: 7. Moving a block to the right past of a summing junction:
 Example: Reduce the Block Diagram to Canonical Form.

• Combine all cascade block using rule-1

• Combine all parallel block using rule-2

18
Example: Reduce the Block Diagram to Canonical Form.

𝐺2 + 𝐺3
𝐺1 𝐺4

19
 Example: Continue.
• Eliminate all minor feedback loops using rule-7

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

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

20
 Example (Home Work)
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.

21
Example

H2

R _ C
+_ + G1 + G2 G3
+

H1

22
Example
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

23
Example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

24
Example
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

25
Example
H2
G1
R _ C
G1G2
+_ + G3
1 − G1G2 H1

26
Example
H2
G1
R _ C
G1G2G3
+_ +
1 − G1G2 H1

27
Example

R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2

28
 Example
Find the transfer function of the following block diagram

G4
R (s ) Y (s)
G1 G2 G3

H2
H1

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 I
G4
R(s) B A Y (s)
G1 G2 G3
H2
H1 G2

Solution:

1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4 + G2G3

30
 G4
R(s)
GG4 +
B A G2 G3
Y (s)
G1 2 G 3

H2
H1G2

3. Moving pickoff point B behind block G4 + G2G3

II
R(s) B C
Y (s)
G1 G4 + G2G3
H2
H1G2 1 /(G4 + G2G3 )

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4. Eliminate loop III

R(s) Y (s)
G1 GG4 4++GG2G2G3 3
C C

1 + H 2 (GH4 2+ G2G3 )
G2 H1
G4 + G2G3

R(s) G1 (G4 + G2G3 ) Y (s)

1 + G1G 2 H1 + H 2 (G4 + G2G3 )

Y (s) G1 (G4 + G2G3 )

=
R( s ) 1 + G1G 2 H1 + H 2 (G4 + G2G3 ) + G1 (G4 + G2G3 )
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Example (Home Work)
Find the transfer function of the following block diagrams

R(s) Y (s)
G1 G2

H1 H2

H3

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Solution:

1. Eliminate loop I

R(s) A
G2 I
B Y (s)
G1 G2
H1
1 + GH2 H
2
2

H3
2. Moving pickoff point A behind block G2
1 + G2 H 2

R(s) A G2 B Y (s)
G1
1 + G2 H 2

1 + G2 H 2 II
H1 1 + G2 H 2
G2 H 3 + H1 ( )
G2
H3 Not a feedback loop 34
3. Eliminate loop II

R(s) G1G2 Y (s)

1 + G2 H 2

H1 (1 + G2 H 2 )
H3 +
G2

Y (s) G1G2
=
R( s ) 1 + G2 H 2 + G1G2 H 3 + G1H1 + G1G2 H1H 2

35
 Example
Find the transfer function of the following block diagrams

H4
R(s) Y (s)
G1 G2 G3 G4

H3

H2

H1

36
 Solution:

1. Moving pickoff point A behind block G4

I
H4
R(s) Y (s)
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1

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2. Eliminate loop I and Simplify

R(s) II Y (s)
G2G3G4 B
G1
1 + G3G4 H 4
H3
G4
H2
G4 III
H1

II feedback III Not feedback

G2G3G4 H 2 − G4 H1
1 + G3G4 H 4 + G2G3 H 3 G4
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3. Eliminate loop II & IIII

R(s) G1G2G3G4 Y (s)

1 + G3G4 H 4 + G2G3 H 3

H 2 − G4 H1
G4

Y (s) G1G2G3G4
=
R( s ) 1 + G2G3 H 3 + G3G4 H 4 + G1G2G3 H 2 − G1G2G3G4 H1

39
Example (Home Work)
Find the transfer function of the following block diagrams

H2

R(s) A Y (s)
G1 G2 G3 B

H1

G4

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Solution:

1. Moving pickoff point A behind block G3

I
H2

R(s) A B Y (s)
G1 G2 G3
1
H1 G3
1
H1 G3
G4

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2. Eliminate loop I & Simplify

H2

B
G2 G3 B G2G3

1 H1
+ H2
H1 G3 G3
II
R(s) G2G3 Y (s)
G1 1 + G2 H1 + G2G3 H 2

H1
G3

G4 42
3. Eliminate loop II

R(s) G1G2G3 Y (s)

1 + G2 H1 + G2G3 H 2 + G1G2 H1

G4

Y (s) G1G2G3
T ( s) = = G4 +
R( s) 1 + G2 H1 + G2G3 H 2 + G1G2 H1

43
References
[1] Norman S. Nise, “Control System Engineering”, Sixth Edition, John Wiley and Sons,
2004.

[2] Richard C. Dorf and Robert H. Bishop, “Modern Control System”, Eleventh Edition,
Addison Wesley, 1999.

[3] Katsuhiko Ogata, “Modern Control Engineering”, Fourth Edition, Prentice Hall, 2001.