BLOCK DIAGRAM ALGEBRA

Block diagram- a shorthand, graphical representation of a physical

system, illustrating the functional relationships among its components

 Time-domain quantities are represented by lower case letters

o r =r (t)
 Capital letters are used for frequency domain quantities
o R=R (s )
Canonical Form of a Feedback Control System

R + E G C

B H

G- direct transfer function/ forward transfer function

H- feedback transfer function

GH- loop transfer function/ open-loop transfer function
C
R
- closed loop transfer function/ control ration

E
R
- actuating signal ratio error ratio

B
R
- primary feedback ratio

C G
=
R 1± GH

E 1
=
R 1 ± GH

B GH
=
R 1 ± GH
 Block Diagram Transformation Theorems
1. Combining blocks in cascade
y=( P 1 P2 ) x

2. Combining blocks in parallel/ elimintaing a forward loop

y=P1 x ± P2 x
y=x (P1 ± P2 )

3. Removing a block from a forward path

y=P1 x ± P2 x

4. Eliminating a feedback loop

y=P1 ( x ∓ P2 y )
5. Removing a block from a feedback loop
y=P1 ( x ∓ P2 y )

6. Moving a summing point ahead of a block

z=Px ± y

7. Moving a summing point beyond a block

z=P(x ± y )
 8. Moving a take-off point ahead of a block
y=Px

9. Moving a take-off point beyond a block

y=Px

Unity Feedback Systems

- A feedback system in which the primary feedback, b, is equal to
the controlled output, c
- For a linear unity feedback system, H=1
-
R + E G C

** any feedback system with only linear elements in the feedback loop
can be put in the form of a unity feedback system.
Reduction of Complicated Block Diagrams
1. Combine all cascaded blocks
2. Combine all parallel blcoks
3. Eliminate all minor feedback loops
4. Shift summing points to the left and take-off points to the right of
the major loop
5. Repeat steps 1 to 4 until the canonical form hasa been achieved
for a particular input
6. Repeat steps 1 to 5 for each input, as required

Multiple Inputs

- When several stimuli are simultaneously applied at different

points of the system

Steps in reducing systems with multiple inputs:

1. Set all inputs except one equal to zero

2. Transform the block diagram to canonical form
3. Calculate the response due to the chosen input acting alone
4. Repeat steps 1-3 for the remaining inputs
5. Algebraically add all responses (outputs) determined in steps 1-4.
This sum is the total output of the system with all inputs acting
simultaneously
u
+ + C
R + E