ME31002

Linear Systems and Control

Lecture Note 3
Dr XJ Jing

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 Block Diagram
A block diagram is a diagram of a system in which the principal
parts or functions are represented by blocks connected by lines that
show the relationships of the blocks.

Block diagrams in control are a visual language for describing

actions in a complex system in which blocks are transfer functions
that represent mathematical or logical operations that occur in
sequence from left to right and top to bottom by following the
signal flows, but not the physical entities, such as processors or
relays, that perform those operations.

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Examples of block diagram

Open-loop control system

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Examples of block diagram

Closed-loop control system

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Not very straightforward sometimes, needing
more EEE knowledge or else

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Representation of control system

◼ The components or systems to be controlled can be represented by a

block as follows in the simplest case as

Input Control system Output

◼ Open-loop control system: No sensor feedback

Desired output Controller Process Output

response

◼ Closed-loop control system: with sensor feedback to compare

the real output to the desired output
Desired Output
output Comparison Controller Process
response

Measurement

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Block diagrams
◼ The block diagram is commonly used in control engineering to show
the functions performed by each component (subsystem) in the system.
◼ The transfer functions of the components are usually entered in the
corresponding blocks, which are connected together by arrows to show
the direction of flow of the signals.
◼ Three Basic Components in a block diagram

x-y X
Transfer x +
Function - X X

G(s) y X

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 Notations in a block diagram
A block diagram is a means of modeling a system by breaking it down into subsystems
each represented by a block. The overall response of the system is determined from a
knowledge of the transfer functions of the blocks.

Arrows are used to represent the direction of signal flow.

Blocks are used to represent any part of the system that manipulates
the signal in to provide a signal out.
Summing point represents a point where signals are algebraically
combined. Signals can be added to or subtracted from each other.
Take-off point indicates the point where a signal is split into two directions.
Block this is usually drawn with its transfer function inside. Lower
case letters indicate the time domain and upper case letters the frequency domain.
Forward path the route the signal takes when moving from input to output.
Feedback path the route the signal takes when moving from output to input.
Feedforward path this is parallel to and in the same direction as the forward path

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Notations in a block diagram

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 Block diagrams →Reduction for transfer function

In practice, the block diagram could be very complicated. In this

course, we suppose that it is already known. But for analysis and
design, we need to know the transfer function of the system. How
to find the transfer function for a given block diagram is the
following task.

Block diagram
reduction

Transfer
R(s) Function C(s)
G(s)
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 A block diagram can be simplified
step-by-step with the following
Block diagrams reduction rules.

G1(s)

G2(s)

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 There are many reduction rules. But
not all of them are needed actually.
Block diagrams

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 Only the following 9 rules are needed

(1) The input signal R(s) and the output signal C(s) should
be determined firstly. So the task is to find the transfer
function G(s) from R(s) to C(s), i.e.,

G(s)=C(s)/R(s) or C(s)=R(s)G(s)
 These basic 9 rules are important

(2) The relationship between output and several inputs

after one summing junction is shown in (c). The signals
from the same pickoff point are the same as the signal in
the branch (d).

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(3) Signals transmitted in series
(4) Signals transmitted in parallel

Starting from the same

pickoff point and coming to
the same summing point
(5)
Signals form a
closed feedback
loop
 C=R*G±X*G
C=G*(R±X)

(6) Shifting a block before or after a

summing junction

C=G*(R±X/G)
C=R*G±X
(7)
Shifting a block before or
after a pickoff point
(8) Signals in parallel feedback loops
Three summing
points can be
combined into one
 How to treat multiple inputs
(9) Multiple inputs

C D ( s) G2 ( s)
=
D( s ) 1 + G1 ( s )G2 ( s ) H ( s )

C R ( s) G1 ( s )G2 ( s )
=
R( s ) 1 + G1 ( s )G2 ( s ) H ( s )

C ( s) = C R ( s) + C D ( s)
(figure 3-12, Ogata, 2002)

When two inputs are present in G2 ( s)

◼
= [G1 ( s ) R ( s ) + D( s )]
a linear system, each input can 1 + G1 ( s )G2 ( s ) H ( s )
be treated independently of the
other.
◼ The outputs can be added to
give the complete output

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(9) Multiple inputs

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 Examples01
1.

figun_05_01

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 Examples02
2.

figun_05_02

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Example 03

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 solutions
i. Combine the parallel blocks in the forward path.

s2+1/s
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solutions
i. Combine the parallel blocks in the forward path.
ii. Push 1/s to the left past the pickoff point

s2+1/s

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solutions
i. Combine the parallel blocks in the forward path.
ii. Push 1/s to the left part of the pickoff point
iii. Combine the parallel feedback paths and get 2s
iv. Apply the feedback formula

s2+1/s
s2+1/s
2s

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Class exercise 01

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Exercise 02

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Exercise 02-solution

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Exercise 02-solution

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Exercise 02-solution

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Exercise 02-solution

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Exercise 02-solution

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Exercise 02-solution

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Example 04

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Solution

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Add the parallel feedback paths to
get the single negative feedback

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References
◼ Control systems:
Chapter 1, Chapter 2.3-2.7,
Chapter 3.2-3.3
◼ Control systems Engineering:
Chapter 1, Chapter 2.1-2.3,
Chapter 5.2

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 Questions 2: block diagram reduction

1.

Homework
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Example05

Example
(example 5.2, Nise, 2000)

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Solution

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Examples06

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Solution

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Example07 and solution

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 Advanced method
An algebraic approach For references only
Not focused

◼ (1) At each summing junction set a breakpoint and

denote the signal there A, B, …
◼ (2) Find a series of algebraic equations starting from
the input R to the signal A, from A to B, and until to
the output Y
◼ (3) Solve the algebraic equations to find Y=(*) R,
and then find the TF.

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Examples

E X Z

Y=G4*G3*Z
Z=G2*X+H1*Y Y=(?)*R
X=G1*E-H2*G3*Z
E=R-H3*Y G(s)
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