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CHAPTER # 3 BLOCK DIAGRAM

1. Introduction
Block Diagram is defined as a pictorial representation of functions performed by
each component of a system and that of flow of signals. Each block is
characterized by an inputoutput description as shown in Fig. 3.1.

Fig. 3.1 Single block diagram representation

In general, the block diagram consists of blocks, arrows, take (pick) off points
and/or summing points. Fig. 3.2 shows these elements of the block diagram.

Dr. AHMED MOSTAFA HUSSEIN

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Fig. 3.2 Basic elements of block diagram

2. Terminology

Fig. 3.3 Block diagram components

Regarding the closed-loop control system shown in Fig. 3.3, we can define the
following terms;
Plant: A physical object to be controlled. The Plant G2 (s), is the controlled
system, of which a particular quantity or condition is to be controlled.
Feedback Control System (Closedloop Control System): A system which
compares output to some reference input and keeps output as close as possible to
this reference.
Openloop Control System: Output of the system is not feedback to the system.

Dr. AHMED MOSTAFA HUSSEIN

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Control Element G1(s), also called the controller, are the components required to
generate the appropriate control signal M (s) applied to the plant
Feedback Element H(s) is the component required to establish the functional
relationship between the primary feedback signal B (s) and the controlled output
C(s).
Reference Input R (s) is an external signal applied to a feedback control system in
order to command a specified action of the plant. It often represents ideal plant
output behavior.
Controlled Output C(s) is that quantity or condition of the plant which is
controlled
Actuating Signal E(s), also called the error or control action, is the algebraic sum
consisting of the reference input R (s) plus or minus (usually minus) the primary
feedback B (s).
Manipulated Variable M (s) (control signal) is that quantity or condition which
the control elements G1 (s) apply to the plant G2 (s).
Disturbance U (s) is an undesired input signal which affects the value of the
controlled output C(s). It may enter the plant by summation with M (s), or via an
intermediate point, as shown in the block diagram of the figure above.
Forward Path is the transmission path from the actuating signal E(s) to the output
C(s).
Feedback Path is the transmission path from the output C(s) to the feedback
signal B (s).
Summing Point: A circle with a cross is the symbol that indicates a summing
point. The (+) or () sign at each arrowhead indicates whether that signal is to be
added or subtracted.
Branch(pick/take off) Point: A branch point is a point from which the signal from
a block goes concurrently to other blocks or summing points.

Dr. AHMED MOSTAFA HUSSEIN

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We can conclude the above information by the following definitions:

According to the control system shown in Fig 3.4;

Fig. 3.4 Block diagram of a closedloop system with a feedback element.

3. Block Diagrams & Their Simplification

3.1 Cascade (Series) Connection

Fig. 3.5 (a) Original Block Diagram (b) Equivalent Block Diagram
3.2 Parallel Connection

Dr. AHMED MOSTAFA HUSSEIN

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Fig. 3.6 (a) Original Block Diagram (b) Equivalent Block Diagram
3.3 Feedback Connections

Fig. 3.7 Feedback connection

We know that C(s) =G(s) E(s) & B(s) = H(s)C(s)
Where

E (s) =R(s) B(s) = R(s) H(s)C(s)

Eliminating E(s) from these equations gives

C(s) = G(s) [R(s)H(s)C(s)]
[1+G(s) H (s)] C(s) = G(s) R(s)

This can be written in the form

OR

The Characteristic equation of the system is defined as an equation obtained by

setting the denominator polynomial of the transfer function to zero. The
Characteristic equation for the above system is:

Dr. AHMED MOSTAFA HUSSEIN

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3.4 Block Diagram Algebra for Summing points

3.5 Block Diagram Algebra for Pick/take off points

4. Block Diagram Reduction Rules

In many practical situations, the block diagram of a Single InputSingle Output
(SISO), feedback control system may involve several feedback loops, summing
points and/or take off points. In principle, the block diagram of (SISO) closed loop

Dr. AHMED MOSTAFA HUSSEIN

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system, no matter how complicated it is, it can be reduced to the standard single loop
form (Canonical form) shown in Fig. 3.7. The basic approach to simplify a block
diagram can be summarized in the following Table;
1.

Combine all cascade blocks

2.

Combine all parallel blocks

3.

Eliminate all minor (interior) feedback loops

4.

Shift summing points to left

5.

Shift take off points to the right

6.

Repeat Steps 1 to 5 until the canonical form is obtained

5. Some Basic Rules with Block Diagram Transformation

Dr. AHMED MOSTAFA HUSSEIN

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Example 1

Example 2

Example 3: The main problem here is the feedforward of V3(s). Solution is to move
this pickoff point forward.

Dr. AHMED MOSTAFA HUSSEIN

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Example 4:

Dr. AHMED MOSTAFA HUSSEIN

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Example 5:
Use block diagram reduction to simplify the block diagram below into a single block
relating Y(s) to R(s).

10

Dr. AHMED MOSTAFA HUSSEIN

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6. MultipleInputs cases
In feedback control system, we often encounter multiple inputs to represent a
disturbance or something else. For a linear system, we can apply the superposition
principle to solve this type of problems, i.e. to treat each input one at a time while
setting all other inputs to zeros, and then algebraically add all the outputs as follows:
1.

Set all inputs to zero except one

2.

Transform the block diagram to solvable form

3.

Find the output response due to the chosen input action alone

4.

Repeat Steps 1 to 3 for each of the remaining inputs

5.

Algebraically sum all the output responses obtained in Step 3

Example 6: Determine the output C(S) of the following system

Using the superposition principle, the procedure is illustrated in the following steps:

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Dr. AHMED MOSTAFA HUSSEIN

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Step1: Put D(s) 0 as shown in Fig.

(a).
Step2: Reduce The block diagrams
to the block shown in Fig. (b)

Step 3: The output CR due to input

R(s) is shown in Fig. (c) and is given
by the relationship

Step 4: Put R(s) 0 as shown in Fig.

(d).
Step 5: Put 1 into a block,
representing the negative feedback
effect as shown in Fig. (d)
Step

6:

Rearrange

the

block

diagrams as shown in Fig. (e).

Step 7: Let the 1 block be absorbed
into the summing point as shown in
Fig. (f).

Step 8: The output CD due to input

D(S) is :
=

1 +

The total output is C:

C(s) = CR + CD
=

12

+
1 +
Dr. AHMED MOSTAFA HUSSEIN

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Example 7:
Find the output C(S) of the control system shown below.

For Input R1:

For input R2:

13

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Example 7:

Example 8:
For the closed-loop control system shown below,
a) Using block diagram algebra, find the system transfer function C(S)/R(S).
b) Obtain the system characteristic equation.

14

Dr. AHMED MOSTAFA HUSSEIN

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R(S) +

12

5
+8

2
+

C(S)

3
40

3
20

51
40

+
+

+
The blocks 12 & 5/(S+8) are cascade
R(S) +

60
+8

2
+

3
40

3
20

C(S)
51
40

+
The blocks 60/(S+8) & 3/20 are canonical
R(S) +

60
+ 17

2
+

C(S)
51
40

3
40

The blocks 60/(S+17) cascaded with 2/(S+T) and the result is canonical with 3/40
R(S) +

120
+ 17 + + 17 + 9

C(S)

51
40

15

Dr. AHMED MOSTAFA HUSSEIN

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R(S) +

120
+ 17 + + 17 + 9

C(S)

51
40

120
=

+ 17 + + 17 + 9 + 153
The system characteristic equation is
+ 17 + + 17 + 9 + 153 = 0
Rearrange the above equation to be:
+ 17 + + 17 + 9 + 153 = 0
+ 17 + 9 + 153 + + 17 = 0

Example 9:
If the control systems shown in Fig. A and B are equivalent, Find Geq.

R(S) +

2
+1

+5

C(S)

0.3
+

R(S) +

16

+
+

Fig. A

C(S)

Fig. B

Dr. AHMED MOSTAFA HUSSEIN

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Rearrange the block diagram as follows:

R(S) +

2
+1

+5

0.3

C(S)

S
+
+

R(S) +

+ 5 + 0.3

2
+ 1

C(S)

2
+ + 2

C(S)

S+1

+ 5 + 0.3

R(S) +

S+1
Add unity feedback with negative and positive sign
R(S) +

2
+ + 2

+ 5 + 0.3

C(S)

+
S+1

17

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R(S) +

2
++2

C(S)

2
+ 5 + 0.3 + + 2 + 2

C(S)

+ 5 + 0.3

+
S

R(S) +

By comparing with the equivalent block diagram:

R(S) +

We get that
=

C(S)

2
+ 5 + 0.3 + + 2 + 2

Example 10:
For the control system shown below, Calculate the transfer function C(s)/R(s)

R(S) +

1
+3

2
+1

C(S)

0.4

0.3
+

18

Dr. AHMED MOSTAFA HUSSEIN

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The block diagram can be rearranged as:

R(S) +

1
+3

2
+1

0.4

0.3

R(S) +

+ 3 + 0.3

C(S)

2
+1

C(S)

0.4

R(S) +

2
+ 1 + 3 + 0.3 + 0.8

C(S)

Therefore, the closed loop T.F. is:

2
=
+ 1 + 3 + 0.3 + 0.8 + 2
The system characteristic equation is given as:
+ 1 + 3 + 0.3 + 0.8 + 2 = 0
+ 4 + 3 + 0.3 + 3.667 + 6.667 = 0

19

Dr. AHMED MOSTAFA HUSSEIN

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Example 11:
For the control system shown below, Obtain the transfer function C(s)/R(s).
R(S) +

G1(S)

C(S)

G2(S)

_
+
H1(S)

_
H2(S)

The blocks H1(S) and H2(S) are canonical and can be simplified as
R(S) +

G1(S)

C(S)

G2(S)

1
1 + 12

The blocks G1(S) and G2(S) are cascaded and the result is canonical with

1 2 1 + 1 2
=
1 + 1 2 + 1 2 1

Example 12:
For the control system shown below, Obtain the transfer function C(s)/R(s) and
C(s)/D(s), then find an expression for the system response C(s).

D(S)

G4(S)

R(S)

G1(S)

G2(S)

G3(S)

C(S)

H(S)

Using super position

Assume R(S) = 0, and rearrange the block diagram as follows:

20

Dr. AHMED MOSTAFA HUSSEIN

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G3(S)
D(S) +

C(S)
G2(S)

H(S)

G1(S)

3
=

1 + 123
Now, assume D(S) = 0, rearrange the block diagram as follows

G4(S)

G1(S)

R(S)

G2(S)

G3(S)

C(S)

+
H(S)

After moving the summing point as shown by the arrow indicated, the T.F. will be
4

123 1 +

1
=

1 + 123
From both T.F's we can obtain the expression for the system response C(s) as:
=

3
+
1 + 123

21

4

1
1 + 123

123 1 +

3 + 123 + 234
1 + 123

Dr. AHMED MOSTAFA HUSSEIN

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Example 13:
Simplify the block diagram shown below and then obtain the closedloop transfer
function C(s)/R(s).
G8
C(S)
_

R(S) +

G1

G3

G4

G5

+
_

22

G2

G6

G7

Dr. AHMED MOSTAFA HUSSEIN

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23

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Salman Bin Abdul Aziz University

College of Engineering
Department of Electrical Engineering
EE3511 Automatic Control Systems

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Sheet 2(Block Diagram)

Problem #1

Simplify the following control systems using block diagram algebra, and then find
the transfer function C(s) / R(s).

(a)

(b)

(c)
Problem #2
For the control system shown in Fig. (b) below,
a) Determine G(s) and H(s) that are equivalent to the block diagram of fig. (a)
b) Determine the transfer function C(s)/R(s)

24

Dr. AHMED MOSTAFA HUSSEIN

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R(S) +

1
+ 5

+
_

1
+ 10

C(S)

(a)
R(S)

C(S)

G(s)

(b)

H(s)
Problem #3
Simplify the following control systems using block diagram algebra, and then find
the transfer function Y(s) / R(s).

(a)

(b)

25

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(c)

(d)

(e)

26

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(f)

(g)

Problem #4
Obtain the transfer functions C(s)/R(s) and C(s)/D(s) of the systems shown below

Obtain the transfer functions Y(s)/R1(s) and Y(s)/R2(s) of the system shown below

27

Dr. AHMED MOSTAFA HUSSEIN

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Problem #5
The control system, shown in Fig. below, has two inputs and two outputs. Find
C1(s)/R1(s), C1(s)/R2(s), C2(s)/R1(s) and C2(s)/R2(s).

Problem #6
For the control system, shown in figure below, obtain the system transfer function.
R(S) +

G1(S)

C(S)

G2(S)

+
H1(S)

_
H2(S)

28

Dr. AHMED MOSTAFA HUSSEIN

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Problem #7
For the control system shown below, find , K, K1, K2 and K3 if Known that
10 + 1

=
+ 3 + 12 + 10

R(S) +

1
4

1
+ 1

C(S)

K3
K2
K1
Problem #8
Simplify the block diagram shown below and then obtain the closedloop transfer
function C(s)/R(s).
G8
C(S)
_

R(S) +

G1

G3

G4

G5

+
_

29

G2

G6

G7

Dr. AHMED MOSTAFA HUSSEIN