Professional Documents
Culture Documents
X2
G2
X3 =
X1
G2 G1
X3
X1 X1 + X2 X3 =
+
G
X3
X2
X2 = X2
X1
G
X2
X2 X1 X1
G
X2
X1 =
G G-1
X2
X1
X3 X2
X1 + =
G-1
X3
U(s) +
X2 + G H
G1
+ +
G3
G4 H1
Y(s)
X2 = X1
(I+GH)-1G
X2
H3
G2
+ +
G3
G4 H1
Y(s)
U(s) +
G1
+ +
G3 G4 H1
Y(s)
H3
H3
U(s) +
G1
U(s) +
G1
Y(s)
H3
H3
U(s) +
G1
U(s) +
Y(s)
H3
H3
G H
x2
x1
x1
G(s)
x2
x2
H(s)
U(s)
Y(s)
Algebraic Eq representation
x = Ax + r
x1 = a11x1+a12x2+r1 x2 = a21x1+a22x2+r2
G11(s) u1(s) G21(s) G12(s) u2(s) G22(s) y1(s)
transfer functions (using Masons gain rule) between any two variables (not just the input and output).
y(s) = G(s)u(s)
y2(s)
Denitions
y5
a44
y5
a44 a45 y5
Input: (source) has only outgoing branches Output: (sink) has only incoming branches Path: (from node i to node j) has no loops. Forward-path: path connecting a source to a sink Loop: A simple graph cycle. Path Gain: Product of gains on path edges Loop Gain: Product of gains on loop Loops: Loops that have no vertex Non-touching in common (and, therefore, no edge.)
Input / Output
Input (source) has only
outgoing edges
a32 a12 y1 y2 a23 y3
y2 1 a12 y1 y2
a32 a23 y3 1 y3
x1
x1
G(s)
x2
y(s)/u(s)=G/(1+GH)
u(s)
G(s)
y(s)
-H(s)
-H(s)
= 0.01