Control Systems (CS)

Dr. Imtiaz Hussain

Associate Professor
Mehran University of Engineering & Technology Jamshoro, Pakistan
email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/

6th Semester 15ES (SEC-II)

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogatta, Norman Nise, Bishop and B C. Kuo and various other
internet sources. 1
 Outline
• Introduction
• Canonical Form
• Reduction of complicated Block diagrams
• Examples of Block Diagram

2
 Introduction
• A Block Diagram is a shorthand
d
pictorial representation of the x y
dt
cause-and-effect relationship of a
system.
𝑦
• For the operations of addition and
+
subtraction the block becomes a 𝑥 +
𝑥+𝑦−𝑧
small circle, called a summing −
point.
𝑧

• In order to have the same signal or variable be an input to more

than one block or summing point, a takeoff point is used.

3
 Example-1
• Consider the following equations in which 𝑥1 , 𝑥2 , 𝑥3 , are
variables, and 𝑎1 , 𝑎2 are general coefficients or mathematical
operators.
x3  a1 x1  a2 x2  5

4
 Example-2
• Draw the Block Diagrams of the following equations.

dx1 1
(1) x2  a1   x1dt
dt b
d 2 x2 dx1
( 2) x3  a1 3  bx1
dt 2 dt

5
Canonical Form of A Feedback Control System

6
 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

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 Example-3
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.

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Reduction techniques

1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2

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Reduction techniques

3. Moving a summing point behind a block

G G
G

4. Moving a summing point ahead of a block

G G
1
G

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 5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G

12
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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 Example-4: Reduce the Block Diagram to Canonical Form.

• Combine all cascade block using rule-1

• Combine all parallel block using rule-2

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Example-4: Reduce the Block Diagram to Canonical Form.

𝐺2 + 𝐺3
𝐺1 𝐺4

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 Example-4: 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

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 Example-5 (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.

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 Example-6

H2

R _ C
+_ + G1 + G2 G3
+

H1

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 Example-6
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

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 Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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 Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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 Example-6
H2
G1
R _ C
G1G2
+_ + G3
1  G1G2 H1

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 Example-6
H2
G1
R _ C
G1G2G3
+_ +
1  G1G2 H1

23
 Example-6

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

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 Example 7
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

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 G4
R(s )
GG4 
B A G G
Y (s )
G1 2
2G 3
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GG 2G2G
3 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 8 (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 30
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

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 Example 9
Find the transfer function of the following block diagrams

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

H3

H2

H1

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 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 H 1
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 H 1
G4

Y (s) G1G2G3G4

R( s ) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1

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Example 10 (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 38
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

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Example-11: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.

40
Example-11: Continue.

41
Example-11: Continue.

42
Example-12: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.

43
Example-12: Continue.

44
Example-12: Continue.

45
Example-13: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.

46
Example-13: Continue.

47
 Example-13: Continue.

When R1 = 0,

When R2 = 0,

48
Block Diagram of Armature Controlled D.C Motor

Ra La
c
ia
Va eb T J


La s  Ra I a(s)  K b(s)  Va(s)

Js  c (s)  K ma I a(s)

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Block Diagram of Armature Controlled D.C Motor

La s  Ra I a(s)  K b(s)  Va(s)

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Block Diagram of Armature Controlled D.C Motor

Js  c (s)  K ma I a(s)

51
Block Diagram of Armature Controlled D.C Motor

52
Block Diagram Angular Position Control
System (Home Work)

Ra La N1
+
JM
+ + + BM
ia BL
kp
e ea eb T θ JL
r c
_ _ _
N2
-
if = Constant

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To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-3

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