EE4107 - Cybernetics Advanced

Exercise 3b: Block Diagrams (Solutions)

Block diagrams are much in use in control theory, and we can have block diagrams in the time plane
(differential equations) and in the s plane (transfer functions).
Often we need to find the total transfer function (from input to output) from a block diagram that
contains of several blocks. The most used rules are for serial, parallel and feedback blocks:
Serial:

Parallel:

Feedback:

For simple systems we can do this using pen and paper, but for more complex systems we need to
use a computer tool like e.g. MathScript.
MathScript have built-in functions for manipulating block diagrams and transfer functions, e.g.:
Serial:

Faculty of Technology, Postboks 203, Kjlnes ring 56, N-3901 Porsgrunn, Norway. Tel: +47 35 57 50 00 Fax: +47 35 57 54 01

H = series(h1,h2)
Parallel:

H = parallel(h1,h2)
Feedback:

H = feedback(h1,h2)

Task 1: Transfer functions

Task 1.1
Find the transfer function

from the following block diagram (pen and paper):

Define the transfer function in MathScript and find the step response for the total system.
Solution:
The total transfer function becomes (pen and paper):

MathScript:
clear
clc
% H1
num=[1];
den=[1, 1];
H1= tf(num, den);
% H2
num=[1];
den=[1, 1, 1];
H2 = tf(num, den);
H_series = series(H1,H2)
figure(1)
step(H_series)

EE4107 - Cybernetics Advanced

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We get the same transfer function in MathScript as we get with pen and paper.
Step Response:

Task 1.2
Find the transfer function

from the following block diagram (pen and paper):

Define the transfer function in MathScript and find the step response for the total system.
Solution:
The total transfer function becomes (pen and paper):

MathScript:

H_parallel = parallel(H1,H2)
figure(2)
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step(H_parallel)
We get the same transfer function in MathScript as we get with pen and paper.
Step Response:

Task 1.3
Find the transfer function

from the following block diagram (pen and paper):

Define the transfer function in MathScript and find the step response for the total system.
Solution:
The total transfer function becomes (pen and paper):

MathScript:

EE4107 - Cybernetics Advanced

H_feedback = feedback(H2,H1)
figure(3)
step(H_feedback)
We get the same transfer function in MathScript as we get with pen and paper.
Step Response:

Task 2: Mass-spring-damper system

Given the following system:

is the position
is the speed/velocity
is the acceleration
F is the Force (control signal, u)
d and k are constants

Task 2.1
Draw a block diagram for the system using pen and paper.
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Solution:
The block diagram becomes:

You may also use this notation:

Task 2.2
Based on the block diagram, find the transfer function for the system
Where the force

may be denoted as the control signal .

Solution:
In order to find the transfer function for the system, we need to use the serial and feedback rules.
We start by using the serial rule:

Next, we use the feedback rule:

EE4107 - Cybernetics Advanced

Next, we use the serial rule:

Finally, we use the feedback rule:

Task 3: Differential Equations

Given the following system:

Task 3.1
Draw a block diagram for the system using pen and paper
Solution:
The block diagram becomes:
b

1
s

x2
a2

1
s

a1

EE4107 - Cybernetics Advanced

x1

Task 4: More Block Diagrams

Task 4.1
Given the following block diagram:

Find the transfer function (pen and paper):

See if you get the same answer using MathScript. Plot the step response as well.
You may also use MathScript to find poles and zeroes.
Discuss the results.
Solutions:
We use the parallel rule:

This gives:

Then we get:

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Numerator:

Denominator:
[

Finally we get:

MathScript:
clear
clc
num = 2;
den = [3, 1];
H1 = tf(num, den)
num = [1, 2];
den1 = [1, 0];
den2 = [-3, 1];
den = conv(den1, den2);
H2 = tf(num, den)
H = parallel(H1, H2)
poles(H)
zero(H)
figure(1)
step(H)
figure(2)
pzmap(H)
We get the following results:
-3,000s^2+9,000s+2,000
----------------------9,000s^3+1,000s
This should be the same as we found using pen and paper.
Step Response:

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We see both from the transfer function, poles and the step response that the system is unstable.

Task 4.2
Do the same for the following block diagrams as well:

a)

Solutions:

MathScript:
clear
clc
num = [1];
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den = [10, 1];
H1 = tf(num, den)
num = [1];
den = [1, 1];
H2 = tf(num, den)
H = feedback(H1, H2)
poles(H)
zero(H)
figure(1)
step(H)
figure(2)
pzmap(H)

b)

Solutions:

MathScript:
clear
clc
num = [1];
den = [10, 1];
H1 = tf(num, den)
H = feedback(H1, 1)
poles(H)
zero(H)
figure(1)
step(H)
figure(2)
pzmap(H)
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c)

Solutions:

MathScript:
Similar as previous tasks

Additional Resources

http://home.hit.no/~hansha/?lab=mathscript

Here you will find tutorials, additional exercises, etc.

EE4107 - Cybernetics Advanced