Feedback and Control Systems

REDUCTION OF MULTIPLE SUBSYSTEMS

At the end of this chapter, the students shall be able to:

4.1. (a) Identify and define the components of a block diagram; (b) Reduce a complex block diagram
into a single block or transfer function using the rules of block diagram algebra.
4.2. (a) Analyze the time response of complex systems that reduce to second-order system; (b)
Design block diagram components to meet transient response objectives.
4.3. (a) Identify and define components of a signal-flow graph; (b) Convert a block diagram into a
signal-flow graph; (c) Reduce a complex signal-flow graph into a single transfer function using
Masons Rule.

4.0. Introduction

In previous discussions, individual subsystems represented by a block with its input and output were given
emphasis. More complicated systems, however, are represented by the interconnection of many
subsystems. Since the response of a single transfer function can be calculated, it is required that multiple
subsystems be represented as a single transfer function. The analytical techniques of the previous lessons
to obtain transient response information about the entire system can then be applied.

In this part of the lesson, multiple subsystems are represented in two ways: as block diagrams and as
signal-flow graphs. Although neither representation is limited to a particular analysis and design technique,
block diagrams are usually used for frequency-domain analysis and design, and signal-flow graphs for
state-space analysis.

Techniques will be developed to reduce each representation to a single transfer function. Block diagram
algebra will be used to reduce block diagrams and Masons rule to reduce signal-flow graphs. Again, it
must be emphasized that these methods are typically used as described. However, it can be shown that
either method can be used for frequency-domain or state-space analysis and design.

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4.1. Block Diagram and Block Diagram Algebra

Intended Learning Outcomes: (a) Identify and define the components of a block diagram; (b) Reduce a
complex block diagram into a single block or transfer function using the rules of block diagram algebra.

A complex system consisting of multiple subsystems is represented in a block diagram using four
components:

A block, representing a subsystem. Inside the block is the transfer function of that subsystem.
Signals, which are represented by arrows, and the name of the signal is written above the arrow.
The direction of the arrow indicates how the signal flows in and out of blocks and other
components. The signs associated with the signal are also written above the arrow.
Summing junction, represented as shown, takes the algebraic sum of its input (two or more)
signals. Signals are multiplied to the signs associated to it before entering the summing junction
and are combined by the summing junction.
A pickoff point, represented as shown, distributes the input signal undiminished to several output
points.

These components are illustrated in Figure 4.1. Note that only linear, time-invariant systems can be
represented by block diagram representation as discussed in this lesson. The rules for block diagram
reduction discussed in the succeeding sections are applicable only to this class of systems.

FIgure 4. 1. Components block diagram representation of linear, time-invariant systems.

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There are three common topologies or familiar forms of block diagrams that can be reduced into a single
block diagram.

Cascade form where the output of a preceding block is made as input in the succeeding block.
To reduce blocks in cascade, multiply their transfer functions. Note that in reducing the blocks in
cascade into a single block, it is assumed that the second block does not load the first block.

FIgure 4. 2. Blocks in cascade.

Parallel form where the input signal is common in each block and the outputs of each block is
added. To reduce blocks in parallel, add their transfer functions.

FIgure 4. 3. Blocks in parallel.

Feedback form the feedback form, and its reduced form is shown in the figure below. This is the
typical configuration of closed-loop, or feedback control systems which will be dealt with in the
succeeding discussions.

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FIgure 4. 4. Feedback form of blocks.

The term

Gs
Ts = (4.1)
1 GsHs

is called the closed-loop transfer function while the product GsHs is called the open-loop
transfer function or open-loop gain.

However, in most complex systems, these common or familiar forms do not readily appear. Thus, rules are
needed to be developed to make these familiar forms appear first before reducing them into a single block.
The rules, as well as the three familiar forms, are summarized in the following table. Note that these rules
are derived from properties of numbers in algebra; thus reduction of block diagrams into single blocks is
also called block diagram algebra.

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RULES FOR BLOCK DIAGRAM ALGEBRA

Property Original Block Diagram Equivalent Block Diagram

1. Cascade

2. Parallel

3. Feedback
Form

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RULES FOR BLOCK DIAGRAM ALGEBRA

Property Original Block Diagram Equivalent Block Diagram

4. Moving a
summing point
behind a block

5. Moving a
summing point
ahead of a
block

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RULES FOR BLOCK DIAGRAM ALGEBRA

Property Original Block Diagram Equivalent Block Diagram

6. Moving a
pickoff point
behind a block

7 Moving a
pickoff point
ahead of a
block

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Example 4.1
Reduce the given block diagram below into a single transfer function.

Answer:

Example 4.2
Reduce the system shown below to a single transfer function.

Answer:

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Example 4.3
Reduce the complex block diagram shown into a single block and find the equivalent transfer function,

Answer:

Example 4.4
Find the equivalent transfer function, Ts = Cs/Rs of the system shown below.

Answer:
s + 1
Ts =
2s  + s + 2s

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Drill Problems 4.1

1. Reduce the block diagram shown below to a single transfer function, Ts = Cs/Rs.

2. Find the closed-loop transfer function Ts = Cs/Rs for the system shown below.

3. Find the equivalent transfer function Ts = Cs/Rs for the system shown below.

4. Reduce the system shown below to a single transfer function.

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5. Reduce the block diagram below to a single block, Ts = Cs/Rs.

6. Reduce the block diagram shown below to a single block, Ts = Cs/Rs

7. Find the unity feedback system that is equivalent to the system shown below.

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8. Given the block diagram of a system below, find the transfer function Gs =  s/ s.

9. Reduce the block diagram shown in the figure below to a single transfer function Ts = Cs/Rs.

10. Reduce the block diagram shown below to a single block representing the transfer function Ts =
CS/Rs.

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4.2. Analysis and Design of Feedback Systems

Intended Learning Outcomes: (a) Analyze the time response of complex systems that reduce to second-
order system; (b) Design block diagram components to meet transient response objectives.

An immediate application of block diagram reduction is the analysis and design of feedback systems that
reduce to second-order systems. Percent overshoot, settling time, peak time, and rise time can then be
found from the equivalent transfer function. Consider the system shown in Figure 4.5. Note that the closed-
loop transfer function for this unity gain feedback control system is given as

K
Ts = (4.2)
s + as + K

FIgure 4. 5. A unity-gain second-order feedback system.

For this system, as K varies, where K can model amplifier gain, the poles move through the three ranges of
operation of a second-order system: overdamped, critically damped and underdamped. For example, for K
between 0 and a /4, the poles of the system are real and are located at

a a 4K
s, = (4.3)
2 2

As K increases, the poles move along the real axis, and the system remains overdamped until K = a /4.
At that gain, both poles are real and equal, and the system is critically damped. For gains above a /4, the
system is underdamped, with complex poles located at

a 4K a
s, = j (4.4)
2 2

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Now as K increases, the real part remains constant and the imaginary part increases. Thus, the peak time
decreases and the percent overshoot increases, while the settling time remains constant.

The examples below show how block diagram reduction is used to analyze complex systems that lead to
underdamped second-order transfer functions.

Example 4.5
For the system shown below, find the peak time, percent overshoot, settling time and rise time.

Answer:
T = 0.726 sec, %OS = 16.303%, T' = 1.6 sec, T( = 0.336 sec.

Example 4.6
For the system shown below, find the percent overshoot, rise time, settling time and peak time for a step
input if the systems response is underdamped. (Is it? Why?)

Answer:
The system is underdamped because its equivalent single transfer function has complex poles. Hence
formulas for percent overshoot, rise, peak and settling times discussed in the previous chapter can be
used. These are computed as
%OS = 16.30%, T( = 112 msec, T' = 533 msec, T = 242 msec

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In the next examples, complex systems are to be modeled and block diagram algebra is used to reduce the
system to a single block.

Example 4.7
A motor and a generator are set up to drive a load as shown in the figure below. If the generator output
voltage is e+ t = K - i- t, where i- t is the generators field current, find the transfer function Gs =
/ s/E1 s. For the generator, K - = 2 . For the motor, K 3 = 1 N m/A, and K 7 = 1 V s/rad.

Answer:
2
Gs =
ss + 17s + 6

Example 4.8
Find the transfer function Gs = E/ s/Ts for the system shown below.

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Answer:
E/ s 5N
Gs = =
Ts JN s =s +

@
>?

Complex systems that reduce to a second-order transfer functions can be designed to meet transient
response characteristics as shown in the next examples.

Example 4.8
Design the value of gain K, for the feedback control system shown below so that the system will respond
with a 10% overshoot.

Answer:
K = 17.9

Example 4.9
B
For a unity feedback control system with a forward-path transfer function Gs = ''CD, design the value

of a to yield a closed-loop step response that has 5% overshoot.

Answer:
a = 5.52

Example 4.10
For the system shown below, find the values of K and K  to yield a peak time of 1.5 second and a settling
time of 3.2 seconds for the closed-loop systems step response.

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Answer:
K = 1.387 and K  = 0.2

Drill Problems 4.2

1. For the system shown below, find the output ct if the input rt is a unit step.

2. For the system shown below, find d( , G , percent overshoot, peak time, rise time and settling time.

3. For the system shown below, find the poles of the closed-loop transfer function, Ts = Cs/Rs.

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4. Find the following for the system shown below:

a) The equivalent single block that represents the transfer function Ts = Cs/Rs.
b) The damping ratio, natural frequency, percent overshoot, settling time, peak time, rise time and
damped frequency of oscillation.

5. Find the transfer function Gs = E/ s/Ts for the system shown below.

6. For the system shown find the value of K that yield 10% overshoot for a step input.

7. For the system shown below, find K and a to yield a settling time of 0.15 sec and a 30% overshoot,

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8. The motor and the load shown in the figure (a) below are used as part of the unity feedback system in
(b) as shown. Find the value of the coefficient of viscous damping DI that must be used in order to
yield a closed-loop transient response having a 20% overshoot.

9. The system shown below will have its transient response altered by adding a tachometer. Design K
and K  in the system to yield a damping ratio of 0.69. The natural frequency of the system before the
addition of the tachometer is 10 rad/s.

10. Assume that the motor whose transfer function is shown in figure (a) is used as a forward path of a
closed-loop, unity feedback system. (a) Calculate the percent overshoot and settling time that could be
expected. (b) If the system is improved by employing an amplifier and a tachometer as shown in (b),
Find the values of K and K  to yield a 16% overshoot and a settling time of 0.2 seconds.

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4.3. Signal-Flow Graphs; Masons Rule

Intended Learning Outcomes: (a) Identify and define components of a signal-flow graph; (b) Convert a
block diagram into a signal-flow graph; (c) Reduce a complex signal-flow graph into a single transfer
function using Masons Rule.

Signal-flow graphs are an alternative to block diagrams. Unlike block diagrams, which consist of blocks,
signals, summing junctions and pickoff points, a signal-flow graph consists only of the following:

Branches represent a system. A system is represented by a line with an arrow showing the
direction of signal flow through the system. Adjacent to the line we write the transfer function.
Nodes represent a signal. A signal is a node with the signals name written adjacent to the node.

These elements are shown below:

Figure 4.1. Elements of signal-flow graphs: (a) a branch; (b) a node.

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In a signal-flow graph, each signal is the sum of signals flowing into it. In Figure 4.6, the following are the
signals that can be written from the signal-flow graph.

Figure 4.2. Example of a signal-flow graph.

Vs = R sG s R  sG s + R sG s

C s = VsG s = R sG sG s R  sG sG s + R sG sG s

C s = VsGJ s = R sG sGJ s R  sG sGJ s + R sG sGJ s

C s = VsGB s = R sG sGB s + R  sG sGB s R sG sGB s

To show the parallel between block diagrams and signal-flow graphs, the following examples illustrates
how to convert from block diagram to signal-flow graph.

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Example 4.11
Convert the cascaded, parallel and feedback forms of the block diagrams shown below into signal-flow
graphs.

Answers:

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Example 4.12
Convert the block diagram shown below into signal-flow graph.

Answer:

Example 4.13
Convert the block diagram shown into a signal-flow graph.

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Answer:

Drill Problems 4.3

Convert the following block diagrams into signal-flow graphs.

(1)

(2)

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(3)

(4)

(5)

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(6)

(7)

(8)

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(9)

(10)

Masons Rule. Earlier, reduction of block diagrams into a single transfer function was discussed. Now, the
reduction of signal-flow graphs into a single transfer function will be dealt with. The technique that will be
developed will be based on the formula derived by S.J. Mason in 1953, which will be called Masons Rule.
First, some definitions are in order. The following figure will be used to clarify the definitions that follow.

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Figure 4.3. Signal-flow graph for defining terms related to Mason's rule.

Loop gain the product of branch gains found by traversing a path that starts at a node and ends
at the same node, following the direction of the signal flow, without passing any other node more
than once. In Figure 4.8, the following are the loop gains:

1 G H
2 G H
3 G GJ H
4 G GB H

Forward-path gain the product of gains found by traversing a path from the input node to the
output node of the signal-flow graph in the direction of signal-flow. In Figure 4.8, the following are
the forward-path gain:

1 G G G G GJ GK
2 G G G G GB GK

Nontouching loops loops that do not have any nodes in common. In Figure 4.8, G H does not
touch G H , G GJ H , and G GB H .

Nontouching-loop gain the product of loop gains from nontouching loops taken two, three, four, or
more at a time. In Figure 4.8, the following are the nontouching-loop gain:

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1 LG H MLG H M
2 LG H MLG GJ H M
3 LG H MLG GB H M

Masons Rule. The transfer function Cs/Rs of a system represented by a signal-flow graph is

Cs TO O
Gs = =N (4.5)
Rs O

where

k = number of forward paths

TO = the kth forward-path gain

= 1 - loop gains +nontouching loop gains taken two at a time - nontouching loop gains taken three
at a time + nontouching loop gains taken four at a time -

Notice the alternating signs of each term.

O = - loop gain terms in that touch the kth forward path. In other words, O is formed by eliminating
from those loop gains that touch the kth forward path.

Example 4.14
Find the transfer function, Cs/Rs for the signal-flow graph shown below.

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Answer:
LG G G G GJ ML1 GK H M
Gs =

where

Example 4.15
Use Masons rule to redo Example 4.2, that is, convert first the block diagram shown into signal-flow graph
and reduce it into a single transfer function.

Drill Problems 4.4

1. Use Masons rule to find a single transfer function for the block diagrams in Drill Problems 4.3. The
answers should be the same as that of Drill Problems 4.2

2. Use Masons rule to find the equivalent transfer function Ts = Cs/Rs of the system
represented by the following signal-flow graphs.

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(a)

(b)

3. Consider the rotational mechanical system shown. Represent the system in a block diagram and
signal-flow graph.

4. For ideal operational amplifiers as shown in the figure below, represent each as a block diagram and
signal flow graphs and obtain the pertinent transfer functions.

(a)

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(b)

REFERENCES:

N. Nise. (2008). Control Systems Engineering 6th Edition. United States of America: John Wiley & Sons.

R. Dorf & R. Bishop. (2008). Modern Control Systems 12th Edition. New Jersey: Prentice Hall.

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