Chapter 4

Block Diagram Algebra

Chapter Objective:
Manipulating blocks of transfer functions

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 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
R(s) C(s)
Input G(s) Output
System
The transfer function is
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
Distributive law
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 Block Diagram Elements
The Summing Point
Any number of inputs. Only one output

X
Signed inputs
+
Y + +X+Y- Z
- output

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 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 in parallel

blocks = +
When blocks are connected in
series,
G2

+ + Y
X Y Z X G1
G1 G2

X Y
G1 + G2

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 Block Diagram Algebra
= +
X + Z X + Z
G G
+ +
Y
G
Y = +

X Y
X Y G
G

X
X 1/G

Z=G(X+Y/G)
X + Z
X + Z G
G
+
+ Y
1/G
Y Z=GX+Y

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 Closed-Loop Feedback System
R + E C
G
-
B
H

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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 Closed-Loop Feedback System

R + E C
G
-
B
H

is the closed-loop transfer function

Also and

is called the error transfer function

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 Closed-Loop Feedback System
D

R E M + + C
+
Gc Gp
-
B
H

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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 Closed-Loop Feedback System
D

R E M + + C
+
Gc Gp
- C/R: closed loop transfer func3on
B
H

Assuming R = 0, we can re-draw

D + C new closed loop transfer func3on

Gp
-

GcH

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 Closed-Loop Feedback System
Example: Determine
Da
a
D E

+ +
R + + + + C
F G
- -

I When manipulating blocks,

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

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 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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 Closed-Loop Feedback System
Example: Determine
To move signal b to
after Block G

Assume names of
signals as shown
b = Fa-Fc+Da b = Fa-Fc+(D/F)aF

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 Closed-Loop Feedback System
Example: Determine
Da (D/F)a Eb
a
D E D/F E
a b
+ +
R + + +
G + C R + +
+
+
+
C
F F G
- - - -

H H Gb

I I

C = Gb + Eb
E/G Eb
Recall: Signals in parallel add

R + + Gb +
+
C R + + C
1+D/F FG 1+D/F FG 1+E/G
- - - -

H H

I I
Recall: signals in series mul/ply C = Gb + (E/G)Gb

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 Closed-Loop Feedback System
Example: Determine G
1 GH Closed feedback control loop equa/on

R + + C R FG C
1+D/F FG 1+E/G +
1+D/F 1+E/G
- - 1 FGH
-

I I

Series so mul/ply together Closed feedback control loop eqn

R +
1
D FG
1
E C D FG E
- F 1 FGH G R 1
F 1 FGH
1
G C
D FG E
1 1 1 I
F 1 FGH G
I

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 The End

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