The document describes a closed-loop control system subjected to a disturbance input D(s) and reference input R(s). It shows that the system response C(s) to both inputs simultaneously is equal to the sum of the individual responses to each input alone. It also explains that when the loop gain G1(s)H(s) is much greater than 1, the effect of the disturbance is suppressed, and when the loop gain G1(s)G2(s)H(s) is much greater than 1, the response to the reference input becomes independent of G1(s) and G2(s). Finally, it provides steps for drawing block diagrams to model systems and provides an example
The document describes a closed-loop control system subjected to a disturbance input D(s) and reference input R(s). It shows that the system response C(s) to both inputs simultaneously is equal to the sum of the individual responses to each input alone. It also explains that when the loop gain G1(s)H(s) is much greater than 1, the effect of the disturbance is suppressed, and when the loop gain G1(s)G2(s)H(s) is much greater than 1, the response to the reference input becomes independent of G1(s) and G2(s). Finally, it provides steps for drawing block diagrams to model systems and provides an example
The document describes a closed-loop control system subjected to a disturbance input D(s) and reference input R(s). It shows that the system response C(s) to both inputs simultaneously is equal to the sum of the individual responses to each input alone. It also explains that when the loop gain G1(s)H(s) is much greater than 1, the effect of the disturbance is suppressed, and when the loop gain G1(s)G2(s)H(s) is much greater than 1, the response to the reference input becomes independent of G1(s) and G2(s). Finally, it provides steps for drawing block diagrams to model systems and provides an example
The document describes a closed-loop control system subjected to a disturbance input D(s) and reference input R(s). It shows that the system response C(s) to both inputs simultaneously is equal to the sum of the individual responses to each input alone. It also explains that when the loop gain G1(s)H(s) is much greater than 1, the effect of the disturbance is suppressed, and when the loop gain G1(s)G2(s)H(s) is much greater than 1, the response to the reference input becomes independent of G1(s) and G2(s). Finally, it provides steps for drawing block diagrams to model systems and provides an example
Figure above shows a closed-loop system subjected to a
disturbance. When two inputs (the reference input 𝑹(𝒔) and disturbance 𝑫(𝒔) are present in a linear time-invariant system, each input can be treated independently of the other; and the outputs corresponding to each input alone can be added to give the complete output. The way each input is introduced into the system is shown at the summing point by either a plus or minus sign.
Consider the system shown in figure. In examining the effect of the
disturbance 𝑫(𝒔), assume the reference input 𝑹(𝒔) is zero and then calculate the response 𝑪𝑫 (𝒔) to the disturbance only. This response can be found from 𝑪𝑫 (𝒔) 𝑮𝟐 (𝒔) (𝑻𝑭)𝑫 = = 𝑫(𝒔) 𝟏 + 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)𝑯(𝒔)
On the other hand, in considering the response to the reference input 𝑹(𝒔), assume the disturbance 𝑫(𝒔) is zero, and the response 𝑪𝑹 (𝒔) to the reference input 𝑹(𝒔) can be obtained from 2
𝑪𝑹 (𝒔) 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)
(𝑻𝑭)𝑹 = = 𝑹(𝒔) 𝟏 + 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)𝑯(𝒔)
The response to the simultaneous application of the reference input and
disturbance can be obtained by adding the two individual responses. In other words, the response 𝑪(𝒔) due to the simultaneous application of the reference input 𝑹(𝒔) and disturbance 𝑫(𝒔) is given by
In the case where 𝑮𝟏 (𝒔)𝑯(𝒔) ≫ 𝟏, the closed-loop transfer function
𝑪𝑫 (𝒔) of the disturbance input becomes almost zero, and the effect of 𝑫(𝒔) the disturbance is suppressed and this is an advantage of the closed- loop system.
In the case where 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)𝑯(𝒔) ≫ 𝟏 the closed-loop transfer
𝑪𝑹 (𝒔) 𝟏 function of the reference input approaches as the gain of 𝑹(𝒔) 𝑯(𝒔) 𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)𝑯(𝒔) increases, which means that if |𝑮𝟏 (𝒔)𝑮𝟐 (𝒔)𝑯(𝒔)| ≫ 𝑪𝑹 (𝒔) 𝟏, then the closed-loop transfer function becomes independent 𝑹(𝒔) of 𝑮𝟏 (𝒔) and 𝑮𝟐 (𝒔) and inversely proportional to 𝑯(𝒔), so that the variations of 𝑮𝟏 (𝒔) and 𝑮𝟐 (𝒔) do not affect the closed-loop transfer 𝑪𝑹 (𝒔) function , which is another advantage of the closed-loop system. 𝑹(𝒔) It can easily be seen that any closed-loop system with unity feedback 𝑯(𝒔) = 𝟏, tends to equalize the input and output. 3
Procedures for Drawing a Block Diagram
To draw a block diagram for a system, follow the following steps:
Write the equations that describe the dynamic behavior of each
component, Take the Laplace transforms of these equations, assuming zero initial conditions, Represent each Laplace-transformed equation individually in block form. Finally, collect the elements into a complete block diagram.
As an example of electrical system, consider the RC circuit shown in
Figure.
The equations for this circuit are:
𝒆𝒊 − 𝒆𝒐 𝒆𝒊 − 𝒆𝒐 = 𝑰𝑹 ⟹ 𝒊= (𝟏) 𝑹 ∫ 𝒊 𝒅𝒕 𝒆𝒐 = (𝟐) 𝑪 Taking Laplace transform of both equations with zero initial condition, we have 𝑬𝒊 (𝒔) − 𝑬𝒐 (𝒔) 𝑰(𝒔) = (𝟑) 𝑹 𝑰(𝒔) 𝑬𝒐 (𝒔) = (𝟒) 𝑪𝒔 4
Equation (3) represents a summing operation, and the corresponding
diagram can be drawn as
Equation (4) represents can be drawn in as
collecting these two figures, we obtain the overall block diagram for the system as 5
As an example of mechanical system, consider the system shown in
Figure.
x k
F m
D x
𝑭𝒔 = 𝒌𝒙 m F 𝒅𝒙 𝑭𝒅 = 𝑫 𝒅𝒕
i. Write the differential equations of the system
𝒅𝟐 𝒙 ∑ 𝑭 = 𝑭 − 𝑭𝒔 − 𝑭𝒅 = 𝒎𝒂 = 𝒎 𝟐 𝒅𝒕
𝒅𝒙 𝒅𝟐 𝒙 𝑭 − 𝒌𝒙 − 𝑫 =𝒎 𝟐 𝒅𝒕 𝒅𝒕 summing point ii. Take Laplace transforms of these equations with zero initial condition, we have
