Escolar Documentos
Profissional Documentos
Cultura Documentos
ity C
ivers
Un
oll
ege
ed
hal er
put En
of
K om
gin
ng
Co m
fC
ee
Ki
to
rin
en
pu
g
r r tm
te
D e pa
mehrez.marzougui@fsm.rnu.tn
10 octobre 2015
Dr. Mehrez Automatic control system 10 octobre 2015 1/1
Course Outline
It is important to note that blocks can be connected in series only if the output of one block is
not affected by the next following block. If there are any loading effects between the
components, it is necessary to combine these components into a single block.
It should be noted, however, that as the block diagram is simplified the transfer functions in
new blocks become more complex because new poles and new zeros are generated.
R(s)
G1 (s)
+ C(s)
+
R(s) C(s)
G2 (s) G1 (s) + G2 (s)
R(s) C(s)
+ G1 (s)
R1 (s) C(s)
R1 (s) +
C(s) +
+
R2 (s) 1
R2 (s)
R1 (s) C(s)
R1 (s) C(s) G(s) +
+
+ G
+
R2 (s)
R2 (s) G(s)
R1 (s) C(s)
R1 (s) C(s) + G(s)
+
G(s) +
+
R2 (s) 1
R2 (s)
G(s)
R(s) C(s)
R(s) C(s) G(s)
G(s)
1 R(s)
R(s) G(s)
R(s) C(s)
R(s) C(s) G(s)
G(s)
C(s)
C(s) G(s)
Example 1
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s)
R(s) C(s)
+ + G1 + G2
H1 H2
H3
First, group blocks G1 and H1 in one simple block and also group blocks G2 and H2 in one
simple block .
R(s) G1 G2 C(s)
+
1 + G 1 H1 1 + G 2 H2
H3
Example 1 Cntd
H3
C(s) G1 G2
TF = =
R(s) (1 + G1 H1 )(1 + G2 H2 ) + G1 G2 H3
Example 2
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s) H 3
R(s) T1 C(s)
+ G1 + + G2 G3
H2
H1
R(s) C(s)
+ G1 + + G2 G3
H2
G3
H1
G3
Example 2 Cntd
H2
G3
H1
G3
H2
Eliminating the feed back path , we get
G3
G2 G3
R(s) 1+G2 G3 H3 C(s)
+ G1 G2 G3
1+ . H2
1+G2 G3 H3 G3
H1
G3
C(s) G1 G2 G3
The closed loop transfer function is : TF = =
R(s) 1 + G 2 G 3 H3 + G 2 H2 + G 1 G 2 H1
Dr. Mehrez Automatic control system 10 octobre 2015 11 / 1
Block Diagrams Block Diagram Simplifications
Example 3
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s) R(s) C(s)
+ + G1 + G2
H1 H2
H3
H2
H3
H1 H2
Example 3 Cntd
H3
H1 H2
H1 H2
Example 4
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s)
H3
R(s) + C(s)
+ G1 + G2 + G3 G4
H1 H2
First move the branch point between G3 and G4 to the right-hand side of the loop containing
G3 , G4 , and H2 . Then move the summing point between G1 and G2 to the left-hand side of the
first summing point.
1 H3
G1 G4
R(s) + C(s)
+ + G1 G2 + G3 G4
H1 H2
Exemple 4 Cntd
By simplifying each loop, the block diagram can be modified as shown in following figure :
H3
G1 G4
R(s) + G1 G2 G3 G4 C(s)
+
1 + G 1 G 2 H1 1 + G 3 G 4 H2
C(s)
Further simplification, the closed-loop transfer function is obtained as :
R(s)
R(s) G1 G2 G3 G4 C(s)
1 + G 1 G 2 H1 + G 3 G 4 H2 G 2 G 3 H3 + G 1 G 2 G 3 G 4 H1 H2
C(s) G1 G2 G3 G4
=
R(s) 1 + G 1 G 2 H1 + G 3 G 4 H2 G 2 G 3 H3 + G 1 G 2 G 3 G 4 H1 H2
Example 5
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s)
H2
R(s) C(s)
+ + G1 + G2 G3
+
H1
First move the summing point between G1 and G2 to the left-hand side of the second
summing point. The block diagram can be modified as shown in following figure :
H2
G1
R(s) C(s)
+ + + G1 G2 G3
+
H1
Exemple 5 Cntd
R(s) G1 G2 C(s)
+ + G3
1 G 1 G 2 H1
H2
Combining blocks in cascade and eliminating feed back loop , we get
G1
R(s) G1 G2 G3 C(s)
+
1 G 1 G 2 H1 + G 2 G 3 H2
G1 G2 G3
CLTF =
1 G 1 G 2 H1 + G 2 G 3 H2 + G 1 G 2 G 3
Example 6
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s) R(s) 1 1 C(s)
+ K
s+a s
+ s2
+
0.1
1
First move the branch point between and K to the right-hand side of the of the block K.
s
s2
Then combine blocks in parallel and 0.1 :
K
R(s) 1 K C(s)
+
s+a s
s2
+ 0.1
K
Example 7
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s)
G4
R(s) + C(s)
+ + G1 + G2 G3 +
+ +
H2
H1
First move the branch point containing H1 ahead of the block G2. Then combine forward
blocks (G2, G3 and G4) and move again the branch point containing H1 after this resulting
block, we get :
R(s) C(s)
+ + G1 + G4 + G2 G3
+ +
H2
H1 G 2
G4 + G2 G3
Example 7 Cntd
Eliminating the feed back loop H2 and combining with the cascade block G1, we get
R(s) G1 (G2 G3 + G4 ) C(s)
+ +
+ 1 H2 (G2 G3 + G4 )
H1 G 2
G4 + G2 G3
G1 (G2 G3 + G4 )
CLTF =
1 H2 (G2 G3 + G4 ) G1 G2 H1 + G1 (G2 G3 + G4 )
Example 8
Simplify the block diagram shown in the following figure. Then, obtain the closed-loop transfer
C(s)
function .
R(s)
H3
R(s) C(s)
+ G1 + + G2 G3
H2
H1
First move the two branch points containing H1 and H2 after the block G3. Then eliminate the
feedback loop H3 , we get :
R(s) G2 G3 C(s)
+ G1 +
1 + G 2 G 3 H3
H2
G3
H1
G3
Example 8 Cntd
By simplifying each loop, the block diagram can be modified as shown in following figure :
R(s) G1 G2 G3 C(s)
+
1 + G 2 G 3 H3 + G 2 H2
H1
G3
G1 G2 G3
CLTF =
1 + G 2 G 3 H3 + G 2 H2 + G 1 G 2 H1