Chapter 4

Block Diagram Algebra

Chapter Objective:
Manipulating blocks of transfer functions
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ME2142 Feedback Control Systems

C4.1

Block Diagram Representation

A block diagram is a graphical tool to help us visualize the model of a system
and evaluate the mathematical relationships among their elements, using
their transfer functions.

The Transfer Function Block

Input

R(s)

C(s)

G(s)

Output

System

is
The transfer function
defined only for a linear time-invariant system and not for nonlinear
systems.
Is a property of the system and is independent of the input to the
system.
Commutative law
and
Associative law
3
Distributive law
3
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ME2142 Feedback Control Systems

C4.2

Block Diagram Elements

The Summing Point
Any number of inputs. Only one output
X
Signed inputs
+
Y

+X+Y- Z

output
Z

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ME2142 Feedback Control Systems

C4.3

Block Diagram Algebra

The block diagram must be a true representation of the
mathematical equations describing the system.
When manipulating block diagrams, the original relationships, or
equations, relating the various variables must remain the same.
Blocks in series or cascaded
blocks

Blocks in parallel

When blocks are connected in

series, there must be no
loading effect.

G1

G2

G2

G1

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ME2142 Feedback Control Systems

G1 + G2

C4.4

Block Diagram Algebra

X

+
+

+
Y

Aug-15

G
1/G

Z=G(X+Y/G)
+

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1/G

Z=GX+Y

ME2142 Feedback Control Systems

C4.5

Closed-Loop Feedback System

R

is called the reference input

is the output or controlled variable
is the feedback
is the error

is called the feedforward transfer function

is called the open-loop transfer function

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ME2142 Feedback Control Systems

C4.6

Closed-Loop Feedback System

is the closed-loop transfer function

Also

and

is called the error transfer function

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ME2142 Feedback Control Systems

C4.7

Closed-Loop Feedback System

D
R

Gc

M +

+
Gp

is the controller transfer function

is the plant transfer function

is the manipulated variable

is the external disturbance

is the feedforward transfer function

is the open-loop transfer function

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ME2142 Feedback Control Systems

C4.8

Closed-Loop Feedback System

D
R

Gc

M +

+
Gp

Assuming R = 0, we can re-draw

D

Gp

GcH

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ME2142 Feedback Control Systems

C4.9

Closed-Loop Feedback System

Example: Determine
a
R

+
-

Da

E
+

H
I

Aug-15
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When manipulating blocks,

must ensure C(s) does not
change, so that C(s)/R(s)
remains same.

ME2142 Feedback Control Systems

C4.10

Closed-Loop Feedback System

Example: Determine
We wish to move this
signal to before block F

Assume names of
signals as shown

b = Fa-Fc+Da

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ME2142 Feedback Control Systems

C4.11

Closed-Loop Feedback System

Example: Determine
To move signal b to
after Block G

Assume names of
signals as shown

b = Fa-Fc+Da

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ME2142 Feedback Control Systems

b = Fa-Fc+(D/F)aF

C4.12

Closed-Loop Feedback System

Example: Determine
a
R

(D/F)a

D/F

+
-

Eb

a
+

Da

Gb

C = Gb + Eb
Eb

E/G
R

1+D/F
-

FG

Gb

1+D/F
-

FG

1+E/G

C = Gb + (E/G)Gb
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ME2142 Feedback Control Systems

C4.13

Closed-Loop Feedback System

Example: Determine
R

1+D/F
-

FG

1+E/G

G
1 GH

1+D/F
-

FG
1 FGH

1+E/G

H
I

+
-

D FG E
1
1
F 1 FGH G

D FG E
1
1
F 1 FGH G
D FG E
1 1
1 I
F 1 FGH G

I
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ME2142 Feedback Control Systems

C4.14

The End

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ME2142 Feedback Control Systems

C4.15