EE-371

LINEAR CONTROL SYSTEMS

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 5 (nn 7th Ed)
Reduction of Multiple Sub-Systems
5.1 Introduction, Page 236
5.2 Block Diagrams, Page 236
5.4 Signal-Flow Graphs, Page 248

Instructor: Dr. Farid Gul

Class: : Summer 2022
Electrical Engineering Department 1
Text Book: Chapter 2 (Modeling in the Frequency Domain)

Case Studies Page 92

Antenna Control: Transfer Functions

2
Antenna Azimuth Position Control System
PROBLEM:
Find the transfer function for each subsystem of the
antenna azimuth position control system.

• Schematic shown on the

front endpapers.
• Use Configuration 1.

Layout
3
 Antenna Azimuth Position Control System
PROBLEM: Find the transfer function for each subsystem of the
antenna azimuth position control system.
Use Configuration 1.

Schematic

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5
Motor & Load

θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
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%Antenna Azimuth Position Control System
syms s
K=1;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

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%Antenna Azimuth Position Control System
syms s
K=10;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

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%Antenna Azimuth Position Control System
syms s
K=100;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

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%Antenna Azimuth Position Control System
syms s
K=1000;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
2

1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)

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 θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
Step Response Step Response
1 1

0.9 0.9

0.8 0.8

0.7 0.7

0.6 0.6
Amplitude

K=10

Amplitude
0.5 0.5

K=1
0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)

Step Response
Step Response 2
1.4
1.8
1.2
1.6

1 1.4

1.2
Amplitude

0.8
Amplitude

K=100
0.6 0.8

K=1000
0.6
0.4
0.4
0.2
0.2

0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)

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 Chapter - 5
Reduction of multiple sub-systems

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Introduction
• Subsystems represented by a block with its input and output.
• Complicated systems are represented by the interconnection of
subsystems.
• We want to find response of the entire system. ?????

 Represent the interconnected multiple subsystems as a single

transfer function
 Apply the analytical techniques to obtain response of the entire
system.

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 Block diagram of Antenna Azimuth Position Control System

θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)

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15
Example: Multiple Sub-Systems

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Components of a block diagram for a
linear, time-invariant system

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Common Topologies
for Interconnecting
Subsystems

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Cascade Form

Equivalent transfer function

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 Parallel Form

Equivalent transfer function

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 Feedback
Form
Equivalent transfer function
E ( s )  R ( s ) G ( s ) H ( s ) E ( s )

R( s)  E ( s)  G ( s) H ( s ) E (s )

C ( s)  G ( s) E ( s)
C ( s) G ( s) E ( s )
T (s)  
R ( s ) E ( s)  G ( s ) H ( s) E ( s)

G(s)
T (s) 
1  G(s) H ( s)

Simplified model

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Block diagram algebra

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 Block diagram algebra for
summing junctions
Equivalent forms for
moving a block

a. To the left past a

summing junction

b. To the right past a

summing junction
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 Block diagram algebra
for pickoff points
Equivalent forms for moving
a block

a. To the left past a

pickoff point

b. To the right past

a pickoff point

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Examples

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Example 5.1
PROBLEM: Reduce the block diagram shown in
the Figure to a single transfer function.

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Example 5.1
(Solution)
a. collapse summing junctions

b. form equivalent cascaded system

in the forward path and
equivalent parallel system in the
feedback path

c. form equivalent feedback system

and multiply by cascaded G1(s)

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Example 5.2
PROBLEM: Reduce the system shown in
the Figure to a single transfer function.

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Example 5.2
(Solution)

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Example 5.2
(Solution)

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 Assignment

• Exercise 5.1
• Problems: 1, 2, 3, 4, 5, 6

Don’t submit

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Signal-Flow Graphs

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Signal-Flow Graphs

• Signal-flow graphs are an alternative

to block diagrams.
• Block diagrams consist of blocks,
signals, summing junctions, and
pickoff points.
• A signal-flow graph consists of
branches, which represent systems,
and nodes, which represent signals.

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 Signal-flow graph components:
a. systems
b. signals
and
c. interconnection of systems and
signals
V(s) = R1(s)G1(s) - R2(s)G2(s) + R3(s)G3(s)

The signal C1(s) = V(s)G4(s)

The signal C2(s) = V(s)G5(s)

The signal C3(s) = -V(s)G6(s)

NOTE:
The negative sign is associated with the system and
not with a summing junction (i.e. signal) 35
 Example 5.5

Converting Common Block Diagrams to

Signal-Flow Graphs

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Cascaded subsystems
V2(s)= V1(s)=

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 Parallel subsystems
V1 ( s )  R ( s )G1 ( s )

V2 ( s)  R( s)G2 ( s )

V3 ( s)  R ( s)G3 ( s )

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Feedback control system

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Example 5.6
Converting a Block Diagram to a Block diagram Example 5.2
Signal-Flow Graph

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Signal-flow graph development

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Simplification of signal-flow graph

signal nodes

signal-flow graph

simplified signal-flow graph

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???
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