x3 a1 x1 a2 x2 5
Example-1
Consider the following equations in which x1, x2, x3, are
variables, and a1, a2 are general coefficients or mathematical
operators.
x3 a1 x1 a2 x2 5
Example-2
Consider the following equations in which x1, x2,. . . , xn, are
variables, and a1, a2,. . . , an , are general coefficients or
mathematical operators.
xn a1 x1 a2 x2 an 1 xn1
Example-3
Draw the Block Diagrams of the following equations.
dx1 1
(1) x2 a1 x1dt
dt b
d 2 x2 dx1
( 2) x3 a1 3 bx1
dt 2 dt
Open-Loop Transfer Function and Feed-forward
Transfer Function
The ratio of the feedback signal B(s) to the actuating error signal E(s) is
called the open-loop transfer function. That is,
The ratio of the output C(s) to the actuating error signal E(s) is called the
feed-forward transfer function, so that
If the feedback transfer function H(s) is unity, then the open-loop transfer
function and the feed-forward transfer function are the same.
Closed-Loop Transfer Function
The output C(s) and input R(s) are related as follows: since
C(s) is given by
Cascade Form:
Figure:
a) Cascaded Subsystems.
b) Equivalent Transfer Function.
Figure:
a) Parallel Subsystems.
b) Equivalent Transfer Function.
The system is said to have negative feedback if the sign at the summing
junction is negative and positive feedback if the sign is positive.
Figure:
a) Feedback Control System.
b) Simplified Model or Canonical Form.
c) Equivalent Transfer Function.
1 G( s )H ( s ) 0
Canonical Form of a Feedback Control System
The system is said to have negative feedback if the sign at the summing
junction is negative and positive feedback if the sign is positive.
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio
R( s ) 1 G( s ) H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G( s )H ( s )
E( s ) 1 H (s )
5. error ratio
R( s ) 1 G( s ) H ( s )
C( s ) G( s )
6. closed loop transfer function
R( s ) 1 G( s ) H ( s )
7. characteristic equation 1 G( s )H ( s ) 0
G1 G2 G1G2
G1
G1 G2
G2
Reduction techniques
G G
G
Reduction techniques
3. Moving a summing point ahead of a block
G G
1
G
G G
1
G
G G
G
Reduction techniques
6. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H 1
A B B A
Block Diagram Transformation Theorems
Transformation Theorems Continue:
Transformation Theorems Continue:
Reduction of Complicated Block Diagrams:
Example-4: Reduce the Block Diagram to Canonical Form.
Example-4: Continue.
K
s 1
Example-8: Continue
K
s 1
K
s 1
G
1 GH K
1 s
s 1
Example-8: Continue
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio
R( s ) 1 G( s ) H ( s )
4. feedback ratio B( s ) G( s )H ( s )
R( s ) 1 G( s )H ( s )
E( s ) 1 H (s )
5. error ratio
R( s ) 1 G( s ) H ( s )
C( s ) G( s )
6. closed loop transfer function
R( s ) 1 G( s ) H ( s )
7. characteristic equation1 G( s )H ( s ) 0
H2
R _ C
+_ + G1 + G2 G3
+
H1
Example-12:
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
Example-12:
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-12:
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-12:
H2
G1
R _ C
G1G2
+_ + G3
1 G1G2 H1
Example-12:
H2
G1
R _ C
G1G2G3
+_ +
1 G1G2 H1
Example-12:
R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
Example-12:
R G1G2G3 C
1 G1G2 H1 G2G3 H 2 G1G2G3
Example 13: Find the transfer function of the following block
diagrams.
R(s ) Y (s )
G1 G2
H1 H2
H3
Solution:
1. Eliminate loop I
R(s ) A
G2 I
B
Y (s )
G1 G2
H1
1 GH2 H
2
2
H3
2. Moving pickoff point A behind block G2
1 G2 H 2
R(s ) A G2 B
Y (s )
G1
1 G2 H 2
1 G2 H 2 II
H1 1 G2 H 2
G2 H 3 H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R(s ) G1G2 Y (s )
1 G2 H 2
H1 (1 G2 H 2 )
H3
G2
Y (s) G1G2
R( s ) 1 G2 H 2 G1G2 H 3 G1H1 G1G2 H1H 2
Superposition of Multiple Inputs
Example-14: Multiple Input System. Determine the output C due
to inputs R and U using the Superposition Method.
Example-14: Continue.
Example-14: Continue.
Example-15: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-15: Continue.
Example-15: Continue.
Example-16: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-16: Continue.
Example-16: Continue.
When R1 = 0,
When R2 = 0,
Skill Assessment Exercise:
Answer of Skill Assessment Exercise: