How are these three related?

Block Diagram F(s)

+ 1 M 1 s 1 s

Block Diagrams
X(s) A transfer function converts an input to an output
H(s) = Y(s) U(s)

B
K

Y(s) = H(s)U(s)

Transfer Function
1 X(s) M = B K F(s) 2 s + s+ M M

State Variable Equations

sX(s) = V(s) B K 1 sV(s) = V(s) X(s) + F(s) M M M

On a block diagram this is shown as U(s) Y(s) H(s)

Definitions - Block & Signal

U(s) H(s)
A solid line (usually with an arrow) represents a signal or variable Blocks contain transfer functions (which transform inputs to outputs)

Definitions - Gain Block

X(s) K
When the transfer function is a constant, the block is often referred to as a gain A gain can be either a constant parameter (K) or a numerical value (6)

Y(s)

Y(s)

X(s) 6

Y(s)

Definitions - Summer
X1(s) X2(s) X3(s)
+
Note that there is only one output from a summer!

Definitions - Pick-off
Z1(s) Z1(s) Z1(s)
Dot not always drawn!

Y(s) = +X1(s) -X2(s)+X3(s)

Signals (variables) can be added (or subtracted) at a summer, which is represented by the circle Addition is represented by a + symbol, subtraction by the - symbol

Signals (variables) can be used or accessed at any point along their line Note that there is no loss or reduction in the signal caused by the pick off

Block Diagram Reduction

Three primary situations for reducing block diagrams to simpler forms: series blocks parallel blocks feedback blocks

Series Blocks - Multiply Gains

Z(s)
1 M

sV(s) 1 V(s)
s

Z(s)

1 Ms

V(s)

Parallel Blocks - Add Gains

G1 (s)

Feedback Loop
R(s)
+ -

G(s) H(s)

C(s)

U(s)
G2 (s)

Y(s) Y(s) R(s)

G(s) 1 + G(s)H(s)

U(s)

- G1 (s) + G2 (s)

C(s)

Feedback Loop
R(s)
+ -

Block Diagram Reduction

C(s)
find G(s) =
+ -

Z(s)

G(s) H(s)

X(s) F(s)
1 M

sV(s)

V(s)

C(s)H(s)
Z(s) = C(s )H(s) + R(s) C(s) = G(s)Z(s)

F(s)

1 s
B

1 s

X(s)

C(s) G(s) = R(s) 1 + G(s)H(s)

Step #1
Combine the two blocks in series,
Define Z = F(s) -BV(s) - KX(s)

Step #2a
Re-draw the block diagram slightly,

F(s)

+ -

1 Ms
B

V(s)

1 s

X(s)

F(s) +
-

+ -

1 Ms

1 s

X(s)

B K
K

Feedback loop

Step #2b
Close the feedback loop,

Step #2c
Simplify the feedback loop,

F(s) +
-

1 Ms 1 1+ B Ms
K

1 s

X(s)

F(s) +
-

1 Ms + B

1 s

X(s)

Step #3a
Combine two blocks in series,

Step #3b
Simplifying the block,

F(s) +
-

1 1 Ms + B s

X(s)

F(s) +
-

1 Ms2 + Bs

X(s)

Feedback loop

Step #4a
Close the feedback loop,

Step #4a
Simplify the feedback loop,

F(s)

1 2 Ms + Bs 1 1+ (K ) 2 Ms + Bs

X(s)

F(s)

1 Ms + Bs + K
2

X(s)

From the definition of a block,

X(s) 1 = F(s) Ms2 + Bs + K

Example #2
find Z(s) U(s)

Example #2 - Step #1
Combine G1 and G2 (parallel blocks)

G 1 (s)

U(s)
G2 (s)

Z(s)
+

U(s)
G1 (s) + G2 (s)
G3 (s)
+

Z(s)

G3 (s)

Combine in series

Example #2 - Step #2
Combine the two parallel blocks 1

Example #3
find Y(s) U(s)
1 a 2s
a1

b1
1 s
+ +

U(s)

(G1 (s) + G2 (s))G3 (s)

Z(s) = 1 + (G1 (s) + G 2 (s))G 3 (s) U(s)

Z(s)

U(s) +
-

b0

Y(s)

a0

Example #3 - Step #1
Re-draw slightly, then close this feedback loop + + -

Example #3 - Step #2a

Cannot have a pick-off in middle of feedback loop!
Parallel path

b1
1 s
+ +

b1
1 s
+ +

U(s) -

1 a 2s
a1

b0

Y(s)

U(s) -

1 a 2s + a 1

b0

Y(s)
Cannot have a pick-off in in middle of parallel path!

Feedback loop

a0

a0

Example #3 - Step #2
Note the definitions for Z(s), need to move 1 pick-off +

Example #3 - Step #3
Z(s)
Combine blocks in series s

Z(s)
b1 1 Z(s) 1 s b0 s
1 Z(s) s

b1
+ +

U(s) -

1 a 2s + a 1

Z(s)

Y(s)

U(s) -

1 1 a 2s + a 1 Z(s) s
a0

1 Z(s) s b0

Y(s)
1 Z(s) s

a0

Example #3 - Step #4
Z(s)
Close feedback loop +

Example #3 - Step #5
Combine blocks in series,

b1s
+ +

U(s)

U(s) -

1 a 2s2 + a1s

b0

1 a 2s2 + a1s + a 0

Y(s)
b1s + b 0

Y(s)
Combine parallel paths

a0

Y(s) b1s + b 0 = U(s) a 2 s2 + a 1s + a 0

Example #3 - Step #2
Note the definitions for Z(s), need to move 1 pick-off +

Example #3 - Step #3b

Remove the pick-off that causes problems + + +

Z(s)
b1 1 Z(s) 1 s b0 s
1 Z(s) s

Z(s)
b1 1 Z(s) 1 s b0 s

U(s) -

1 a 2s + a 1

Z(s)

Y(s)

U(s) a0

1 a 2s + a 1

Z(s)

Y(s)

Move this one!

a0

1 Z(s) s

How can we still get this?

Example #3 - Step #3c

Z(s)
What do you do next?

U(s) a0 Z(s) s

1 a 2s + a 1
1 s

Z(s)

b1 1 Z(s) 1 s b0 s

Y(s)

a0

Z(s)

Add an integrator block!