Reduction of Multiple Subsystems

Seventh Semester
Electrical Engineering Department
College of Engineering
Salahaddin University-Erbil

October 2024
 The Block Diagram

➢ A Block Diagram is a shorthand pictorial representation of the cause-and-effect

relationship of a system.
➢ The interior of the rectangle representation the block usually contains a
description 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.

R G (s ) C

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 The Block Diagram: Components

➢ Plant: A physical object to be controlled. The Plant G2(s ) , is the controlled system, of which a
particular quantity or condition is to be controlled.
➢ Control Element G1(s), also called the controller, are the components required to generate the
appropriate control signal M (s ) applied to the plant.
➢ Feedback Element H(s) is the component required to establish the functional relationship
between the primary feedback signal B(s ) and the controlled output C(s).
➢ Reference Input R(s) is an external signal applied to a feedback control system in order to
command a specified action of the plant. It often represents ideal plant output behavior.

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 The Block Diagram: Components Cont.

➢ The Controlled Output C(s) is that quantity or condition of the plant which is controlled.
➢ Actuating Signal E(s) , also called the error or control action, is the algebraic sum consisting of
the reference input R(s) plus or minus (usually minus) the primary feedback B (s) .
➢ Manipulated Variable M (s) (control signal) is that quantity or condition which the control
elements G1(s) apply to the plant G2(s) .
➢ Disturbance U(s) is an undesired input signal which affects the value of the controlled output
C(s). It may enter the plant by summation with M (s ) , or via an intermediate point, as shown
in the block diagram of the figure above.

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 The Block Diagram: Components Cont.

➢ Forward Path is the transmission path from the actuating signal E (s) to the output C(s).
➢ Feedback Path is the transmission path from the output C(s) to the feedback signal B(s).
➢ Summing Point: A circle with a cross is the symbol that indicates a summing point. The (+) or
(−) sign at each arrowhead indicates whether that signal is to be added or subtracted.
➢ Branch Point: A branch point is a point from which the signal from a block goes concurrently
to other blocks or summing points.

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 The Block Diagram: Definitions

➢ G(s) : Direct transfer function = Forward transfer function.

➢ H(s) : Feedback transfer function.
➢ G(s)H (s ) : Open‐loop transfer function.
➢ C(s)/R(s) : Closed‐loop transfer function = Control ratio
➢ C(s) E(s) : Feed‐forward transfer function.
➢ E(s)/R(s) : Error ratio
➢ B(s)/R(s) : Feedback ratio.

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 The Block Diagram: 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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 The Block Diagram: Reduction

A block diagram reduction technique is a technique that used to represent a whole

system as a single block, and therefore a signal transfer function.
Example: The reduction of the following system

is

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 The Block Diagram: Summation and Subtraction

➢ The operation of addition and subtraction have a special representation.

➢ The block becomes a small circle, called a summing point, with the appropriate
pulse of 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 book out a cross or  in the circle.

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 The Block Diagram: Summation and Subtraction Cont.

Example 3.1 Represent in block diagram the following equation in which x1, x2, and
x3 are variables, and a1, and a2 are general coefficients or mathematical operators.

x3 = a1 x1 + a 2 x 2 − 5

Answer

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 The Block Diagram: Summation and Subtraction Cont.

Example 3.2 Represent in block diagram the following equation.

xn = a1 x1 + a2 x2 +  + an −1 xn −1

Answer

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 The Block Diagram: Pickoff Point

➢ In order to have the same signal or variable be an input to more than one block
or summing point, a Pickoff point is used.
➢ This permit the signal to process unaltered along several different paths to
several destinations.

Pickoff Point

Pickoff Point

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 The Block Diagram:

Assignments
HW3.1
Draw the block diagram of the following system equations:

dr 1 dx
x = a1 +  x dt − a 2 + au
dt b dt

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 The Block Diagram: Reduction Techniques

1. Combining blocks in cascade

G1 G2 G1G2
2. Combining blocks in parallel

G1
G1 + G2
G2
3. Moving a summing point behind a block

G G
G

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 The Block Diagram: Reduction Techniques Cont.

3. Moving a summing point ahead of a block

G G
1
G

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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 The Block Diagram: Reduction Techniques Cont.

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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 The Block Diagram: Exercises

Example 3.3 Reduce the following system block diagram.

Answer
Step1:

Step2:

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 The Block Diagram: Exercises
Step3:

Step4:

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 The Block Diagram: Exercises

Example 3.4 Reduce the following system block diagram.

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 The Block Diagram: Exercises
Step4:
Step1:

Step2: Step5:

Step6:
Step3:

Step7:

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 The Block Diagram: Exercises

Example 3.5: Find the transfer function of the following block diagram

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

H3

H2

H1

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 The Block Diagram: Exercises

Answer
Step1: Moving pickoff point A behind block G4

Step3: Eliminate loops I and II and

simplify them

Step2: Eliminate loop I and simplify

Step4: Transfer function is

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

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 The Block Diagram: Exercises

Example 3.6: Find the transfer function of the following system:

R (s ) Y (s )
G1 G2

H1 H2

H3

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 The Block Diagram: Exercises

Answer
Step1:Eliminate loop I

Step2:Move point A behind block

Step3:Eliminate loop II

Step4:System transfer function is

Y (s) G1G2
T (s) = =
R( s) 1 + G2 H 2 + G1G2 H 3 + G1 H1 + G1G2 H1 H 2
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 The Block Diagram: Multiple Input Systems

Example 3.7 Reduce and find the transfer function of the following system.

Answer
For such system, the Superposition Method is used as the following:
Step1: Let takeout U and reduce system for input R: Thus U=0

Step2: The output CR due to input R, therefore, is

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 The Block Diagram: Multiple Input Systems

Step3: Let, this time, takeout R, R = 0, and instate of subtraction, the feedback
represented as -1. Reduce and find the transfer function of the following system.
The new diagram for input U is

Step4:Rearrange and reduce the system as

Step5: The output CU due to input U is

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 The Block Diagram: Multiple Input Systems

Step6: The total output for both inputs is

C = C R + CU

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 The Block Diagram: Multiple Input Systems

Example 3.8: Find the output C of the following multi-input system.

Answer
Step 1: By applying the superposition method, let U1 = U2 = 0

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 The Block Diagram: Multiple Input Systems

Step2: Let R = U2 = 0

Step3: Let R = U1 = 0

Step4: Thus, C is

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 The Block Diagram: Summery of Block Diagram Reduction Tools

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 The Block Diagram: Assignments

HW 3.2:Find the transfer function C(s)/R(s) for the following system.

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 Signal Flow Graphs: SFG

➢ SFG is a diagram which represents a set of simultaneous equations.

➢ SFGs are alternative to block diagram.
➢ Unlike block diagram, a SFG consists only of branches, which represent systems,
and nodes, which represent signals.

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 Signal Flow Graphs: SFG Model

f
x1 = ax0 + bx1 + cx2 c
x2 = dx1 + ex3
x0 x1 x2 g x3 x4
a d h

x3 = fx 0 + gx2
b e
x4 = hx 3

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 Signal Flow Graphs: Block Diagram vs. SFG

Block Diagram: Signal Flow Graph:

R (s ) C (s ) G (s )
G (s )
R (s ) C (s )
In this case at each step block diagram is to Only one time SFG is to be drawn and
then Mason’s gain formula is to be
be redrawn. That’s why it is tedious method. evaluated.
So wastage of time and space. So time and space is saved.

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 Signal Flow Graphs: Converging Block Diagrams to SFGs

➢ All variables, summing points and take off points are represented by nodes.
➢ If a summing point is placed before a take off point in the direction of signal
flow, in such a case the summing point and take off point shall be
represented by a single node.
➢ If a summing point is placed after a take off point in the direction of signal
flow, in such a case the summing point and take off point shall be
represented by separate nodes connected by a branch having transmittance
unity.

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 Signal Flow Graphs: Block Diagram vs. SFG

Example 3.9:

Example 3.10:

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 Signal Flow Graphs: Block Diagram vs. SFG

Example 3.11:

Example 3.12:

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 Signal Flow Graphs: Converging Block Diagrams to SFGs

Example 3.13:
H1

R(s) E(s) X1 － X3 C(s)

G1 G2 G3 G4
－ X2
－
H2

H3

－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 X3 G4 C(s)

－H2
－H3
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 Signal Flow Graphs: Converging Block Diagrams to SFGs

Example 3.14:

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 Signal Flow Graphs: Converging Block Diagrams to SFGs

Example 3.15:

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 Signal Flow Graphs: Terms

➢ Path : a branch or a continuous sequence of branches traversing from one node

to another node.
➢ Path gain: the product of all branch gains along the path.
➢ Forward path: a path which originates from the input node and terminates at the
output node and along which no node is traversed more than once.
➢ Forward path gain: is the product of branch transmittances of a forward path.
➢ Loop: a closed path that originates and terminates on the same node, and along
the path no node is met twice.
➢ Loop gain: the product of all branch gains along the loop.
➢ Touching loops: more than one loops sharing one or more common nodes.
➢ Non-touching loops: more than one loops do not have a common node.

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 Signal Flow Graphs: Terms

input node (source)

transmittance
branch
x4
mixed node
node mixed node d
x1 a path
b 1 x3
x2 loop x3
forward path
c
input node (source) Output node (sink)

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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule

➢ Mason’s Rule (S. J. Mason, 1953) (also known as Mason’s Gain Formula) is a
technique to reduce a signal flow graph to a single transfer function.
➢ The transfer function, C(s)/R(s), of a system represented by a SFG is

𝑪 𝒔 𝟏 Mason’s Gain Formula

𝑮(𝒔) = = ෍ 𝑷𝒌 ∆𝒌
𝑹 𝒔 ∆
where 𝒌

k = number of forward paths

Pk = Path gain of kth forward path
k = Cofactor of the kth forward path determinant of the graph with the loops touching
the kth forward path removed, that is, the cofactor k is obtained from  by removing
the loops that touch path Pk.
 = determinate of graph = 1 − ෍ 𝐿𝑎 + ෍ 𝐿𝑏 𝐿𝑐 − ෍ 𝐿𝑑 𝐿𝑒 𝐿𝑓 + ⋯
𝑎 𝑏,𝑐 𝑑,𝑒,𝑓
෍ 𝐿𝑎 = sum of all individual loop gain
𝑎

෍ 𝐿𝑏 𝐿𝑐 = sum of gain products of all possible combination of two nontouching loops

𝑏,𝑐

෍ 𝐿𝑑 𝐿𝑒 𝐿𝑓 = sum of gain products of all possible combination of three nontouching loops

𝑑,𝑒,𝑓
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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule

Example 3.16: Find the transfer function of the following system using Mason’s rule.

Answer
The SFG for the above system is

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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule

From the SFG,

1. There is only one forward path, P1 = G1G2G3
2. There are three individual loops:
L1 = G1 G2 H1
L2 = – G2G3 H2
L3 = – G1 G2 G3
3. Since all three loops have a common branch, there are no non-touching loops.
4. The determinant  is  = 1 −  La +  Lb Lc − L d Le L f +  = 1 – (L1 + L2 + L2)
a b ,c d ,e , f
= 1 - G1 G2 H1 + G2G3 H2 – G1 G2 G3
5. The cofactor 1 of the determinant along the forward path connecting the input node
and output node is obtained from  by removing the loops that touch this path. Since
path P1 touches all three loops, therefore 1 = 1
6. The over all gain between the input R(s) and output C(s), the transfer function for the
system is

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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule
Example 3.17: Find the transfer function C(s)/R(s) of the following signal flow graph
using Mason’s rule.

Answer
1. There are three forward paths:
P1 = G1G2G3G4G5
P2 = G1G6G4G5
P3 = G1G2G7
2. There are four loops:
L1 = – G4 H1
L2 = – G2G7 H2
L3 = – G6 G4 G5 H2
L4 = – G2 G3 G4 G5 H2
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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule
3. Loop L1 does not touch loop L2. Therefore,  is
 = 1 – (L1 + L2 + L3 + L4) + L1L2
= 1 + G4 H1 + G2G7 H2 + G6 G4 G5 H2 + G2 G3 G4 G5 H2 + G4 H1 G2G7 H2

4. 1 is obtained from  by removing the loops

that touch path P1. That is, removing L1, L2, L3,
L4, and L1L2 form equation 
1 = 1
Similarly, the 2 is
2 = 1
The 3 is obtained by removing L2, L3, L4, and
L1L2 form equation 
3 = 1 – L1 = 1 + G4H1

5. The overall transfer function C(s)/R(s) is

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 Signal Flow Graphs: Transfer Function from SFG – Mason’s Rule
Assignment
HW3.3
Use Mason’s rule to find the transfer function, Y(s)/X(s), for the following signal flow
graph.

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 End of Chapter Three!

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