TRANSFER FN, POLE-ZEROS, BLOCK

DIAGRAM & SIGNAL FLOW GRAPH

Block Diagram Transformation &
Reduction
 Transfer Function
• A system can be represented, in s-domain, using the
following block diagram.
Output
Input Transfer Function
X (s ) G (s ) Y (s )

For a linear, time-invariant system, the transfer function G (s )

is given by,
Y (s)
G( s) 
X ( s)
where, Y ( s) is the Laplace transform of output and
X ( s) is the Laplace transform of input.
 Transfer Function (contd…)
• Consider the following linear time invariant (LTI) system
(n) ( n 1) 
a0 y  a1 y  ....  an1 y  an y
( m 1)
(n  m)
( m) 
 b0 x  b1 x  ....  bm1 x  bm x
where, x is the input and y is the output.
With zero initial conditions, taking Laplace transform on both sides


Y ( s) a0 s n  a1s n1  ...  an1s  an  

X ( s) b0 s m  b1s m1  ...  bm1s  bm 
 Transfer Function (contd…)
L[output]
G( s) 
L[input ] zero initialcondition
Y ( s) b0 s m  b1s m1  ...  bm1s  bm
 
X ( s) a0 s n  a1s n 1  ...  an 1s  an

Rearranging, we get
Y ( s)  G ( s) X ( s)
 Impulse Response
Suppose, input to a LTI system is unit impulse. We get ,
Y ( s)  G ( s) X ( s)  G ( s).L( (t ))
Y ( s)  G( s)
Inverse Laplace Transform of this output gives the
impulse response of the system. I.e. impulse response
of the system is given by,
Impulse Response  L-1G(s)  g (t )
Given g(t), input-output relationship in t-domain is
given by the following convolution integral
t
y(t )   x( ) g (t   )d
0
 Analysis of Transfer Function
• Consider the transfer function,
Y ( s) b0 s m  b1s m1  ...  bm1s  bm p( s)
G( s)   n 1

X ( s) a0 s  a1s  ...  an1s  an q( s)
n

If the denominator polynomial q (s ) is set to 0,

the resulting equation q ( s )  0 is called the characteristic equation

The roots of the characteristic equation are called poles.

The roots of p( s)  0 are called zeros.
 Example of Poles and Zeros
• Suppose the following transfer function
( s  1)( s  2)
G( s) 
( s  0.5)( s  1.5)( s  2.5)
Note: This is only for illustration. Positive real poles lead instability.

Characteristic equation
( s  0.5)( s  1.5)( s  2.5)  0
Poles are 0.5, 1.5 and 2.5.
Zeros are 1 and 2.
Example of Poles and Zeros
 Poles and Zeros plot
Suppose, the following transfer function

( s  3)
G(s) 
( s  1)( s  2)
Clearly, zero is - 3 and poles are - 1 and - 2.
In the s - plane, they are represente d as follows.

Zeros are represented by circles (O) and poles by

cross (x).
Block Diagram representation
Output
Input Transfer Function
X (s ) G (s ) Y (s )

X (s ) G1 (s) X (s) G2 (s)G1 (s) X (s)

G1 ( s) G2 (s)
Closed-Loop System Block Diagram
E (s ) C (s )
R(s )
+ G (s )
-
B(s )

H (s )

B( s )
Loop transfer function   G( s) H ( s)
E ( s)
C ( s)
Feedforwar d transfer function   G( s)
E ( s)
 Closed Loop Transfer function
C (s)  G(s) E ( s)
E ( s )  R( s )  B( s )  R( s)  H ( s )C ( s )
C ( s )  G ( s )R( s )  H ( s )C ( s )
C ( s )1  G ( s ) H ( s)  G ( s ) R( s )
C ( s) G ( s)
  Closed - loop transfer function
R( s) 1  G ( s) H ( s)

G( s)
C ( s)  R( s )
1  G( s) H ( s)
 Closed Loop Transfer function (contd…)

E (s ) C (s )
R(s )
+ G (s )
-
R(s ) G( s) C (s )
B(s )
1  G( s) H ( s)
H (s )
 Block Diagram
Input Transfer Function Output
X (s ) G (s ) Y (s )

X (s ) G1 (s) X (s) G2 (s)G1 (s) X (s)

G1 ( s) G2 (s)
Block Diagram Transformation
Block Diagram Transformation
Block Diagram Reduction
 Moving a pickoff point
behind a block

Eliminating feedback loop

Eliminating feedback loop

Eliminating feedback loop

BLOCK DIAGRAMS & SIGNAL
FLOW GRAPHS
G1(s)
G1(s)
x(s) x(s)
-+ -G2(s)
G2(s) =
-
x(s) x(s)
G3(s) -G3(s)

Comparison of block diagram and signal flow elements

 SIGNAL FLOW GRAPH MODEL
• Nodes which are connected by several directed
branches
• Graphical representation of a set of linear relation.
• Basic element is unidirectional path segment called a
branch.
. • The branch relates the dependency of input/output
variable in a manner equivalent to a block of block
diagram
 SIGNAL FLOW GRAPH MODEL
Y ( s)
G( s)  R(s) Y(s)
R( s) G(s)

• Variables are represented as nodes.

• Transmittance with directed branch.
• Source node: node that has only outgoing branches.
• Sink node: node that has only incoming branches.
As signal flow graph
D(s) D(s)
+ 1
+ E(s) F(s) + Y(s) R(s) 1 E(s) G(s) F(s) 1
G (s )
-1 Y(s)
R(s) - B(s) H(s)
B(s)
H (s )
Cascade connection

G1 G2  Gm1 Gm

n1 n2 n3 nm1 nm

G1G2 ....Gm

n1 nm
 Parallel connection

Two parallel branch

P+Q
u y u y

Q
(a) Block (b) Equivalent Signal Flow Graph
G4(s)

x2(s)
x1(s) Y(s)
R(s)
+- G1(s) G2(s) + G3(s) ++
-
E(s)

H1(s)
G4(s)

R(s) 1 E(s) G1(s) X1(s) G2(s) X2(s) G3(s) Y(s)

-H(s) -1

Forward Path_1=G1(s)G2(s)G3(s) Forward Path_2=G4(s)

Feedback Path_1=H1(s) Feedback Path_2= -1
Mason’s Rule:
6

1 -4
s
R(s) 1 1 s 1 s2 3 1 Y(s)
1
-3 -5

3s 4
M1=Forward Path_1 Gain= ? M2 = ? M3 = ?6
( s  1)( s  2) s 1
3 5s
L1=Loop Gain=Feedback Path_1= L2=
s 1 s2
M 11  M 2  2  M 3 3....
T ( s) 

∆=1 - (sum of all loop gains) + (sum of product of gains of all 2-nontouching loops
gains) – (sum of product of gains of all 3-nontouching loops gains)+ …..
 6

1 -4
s
R(s) 1 1 s 1 s2 3 1 Y(s)
1
-3 -5
M 11  M 2  2  M 3 3....
T ( s) 

∆=1 - (sum of all loop gains) + (sum of product of gains of all 2-nontouching loops
gains) – (sum of product of gains of all 3-nontouching loops gains)+ …..

∆=1 - (L1 + L2) + L1 L2

∆1=1 No feedback loop available

∆2=1 - L2

∆3=1 - (L1 + L2) + L1 L2

Now find the transfer function using Mason’s Rule:

M 11  M 2  2  M 3 3....
T ( s) 


Check your answer by Block Diagram Reduction as well