22.02.
2015
EEE 352 Automatic Control Systems
Chapter 4: Block Diagrams of Control Systems
Prof. Dr. Ahmet Uar
Dr. Ahmet Uar
EEE 352 Chapter 4
Block Diagrams of Control Systems
A block diagram of a system is a pictorial representation of the functions
performed by each component and of the flow of signals. Such a diagram depicts
the interrelationships that exist among the various components.
Differing from a purely abstract mathematical representation, a block diagram
has the advantage of indicating more realistically the signal flows of the actual
system.
The nonlinear and linear systems can be represented by block diagrams.
The nonlinear systems
The linear systems
State initial condition;
x(t=0) 0
u(t)
Input
signal
Dr. Ahmet Uar
F(x, u)
y(t)
Output
signal
State initial condition;
x(t=0) 0
R(s)
Input
signal
EEE 352 Chapter 4
Transfer
Y(s)
function
Output
G(s)
signal
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Block Diagrams of Control Systems
Drawing a Block Diagram of linear systems:
The transfer functions of the components are usually entered in the
corresponding blocks, which are connected by arrows to indicate the direction of
the flow of signals.
Summing point
R(s)
Input
signal
Transfer
function
G(s)
R(s)
E(s)
Y(s)
Output
signal
Dr. Ahmet Uar
Branch point
Gc(s)
G(s)
Y(s)
H(s)
EEE 352 Chapter 4
Block Diagrams of Control Systems
Drawing a Block Diagram of linear systems with the Laplace transforms.
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.
Assemble the elements into a complete block diagram.
Example 4.1 a): Draw block diagram of the following RC circuit with the
Laplace transforms?
Solution 4.1 a): Let define the error between input and output signal as E(s)
E ( s) Ei ( s ) E0 ( s) (1)
Ei(s)
E(s)
ei
e0
E0(s)
Dr. Ahmet Uar
EEE 352 Chapter 4
22.02.2015
Block Diagrams of Control Systems
Example 4.1: a) Write current I(s)
I (s)
1
E ( s ) ( 2)
R
E(s)
I(s)
1
R
ei
Write output E0(s)
1
e0 Idt e0 (0),
C
1
E0
I ( s ) e0 (0)
Cs
e0
e0(0)0
1
dt s
I(s)
(3)
Finally, assemble the elements into a complete
block diagram.
Ei(s)
E(s) 1 I(s)
R
Dr. Ahmet Uar
1
Cs
E0(s)
e0(0)0
1
Cs
E0(s)
EEE 352 Chapter 4
Block Diagrams of Control Systems
Drawing a Block Diagram of linear systems with time domain:
Write the equations that describe the dynamic behavior of each component.
Represent each equation individually'in block form.
Assemble the elements into a complete block diagram.
Example 4.1 b): Draw block diagram of the following RC circuit without Laplace
transform ?
Solution 4.1 b): Let define the error between input and output signal as e(t)
e(t ) ei (t ) e0 (t ) (1)
ei(t)
e(t)
ei
e0, e0(0)0
e0(t)
Dr. Ahmet Uar
EEE 352 Chapter 4
22.02.2015
Block Diagrams of Control Systems
Example 4.1 b): Write current i(t)
e(s)
1
R
1
i (t ) e(t ) ( 2)
R
i(t)
ei
e0
e0(0)0
Write output e0(t)
i(t)
1
i (t )dt e0 (t 0) (3)
C
e0 (t )
e0(t)
Finally, assemble the elements into a complete block diagram.
e0(0)0
ei(t)
1
R
e(t)
1
C
i(t)
Dr. Ahmet Uar
e0(t)
EEE 352 Chapter 4
Block Diagrams of Control Systems
Block diagram of continuous time control system represented in state space
x (t ) Ax (t ) Bu (t )
A R nn , B R nr
y (t ) Cx (t ) Du(t )
C R mn , D R mr
D
In Laplace domain:
U(s)
1
s
X(s)
Y(s)
C
A
D
In time domain:
u(t)
x (t )
x0(0)0
x(t)
dt
y(t)
C
A
Dr. Ahmet Uar
EEE 352 Chapter 4
22.02.2015
Block Diagrams of Control Systems
Rules of Block Diagram Algebra
A complicated block diagram involving many feedback loops can be simplified by
a step-by-step rearrangement. Simplification of the block diagram by
rearrangements considerably reduces the labour needed for subsequent
mathematical analysis. The following rules block diagram algebra can be used.
Original Block Diagram
1.Combining blocks in
X(s)
Y(s)
R(s)
G1(s)
cascade
G2(s)
2. Moving a summing
point behind a block
R(s)
G1(s)
Y(s)
Equivalent Block Diagram
R(s)
R(s)
Y(s)
G1(s)
B(s)
Dr. Ahmet Uar
Y(s)
G1(s) G2(s)
G1(s)
EEE 352 Chapter 4
B(s)
Block Diagrams of Control Systems
Rules of Block Diagram Algebra
Original Block Diagram
3. Moving a branch point
R(s)
Y(s)
ahead of a block
G1(s)
R(s)
G1(s)
R(s)
Y(s)
Y(s)
4. Moving a branch
point behind a block
Equivalent Block Diagram
R(s)
Y(s)
G1(s)
R(s)
G1(s)
Y(s)
B(s)
Dr. Ahmet Uar
EEE 352 Chapter 4
Y(s)
G1(s)
R(s)
5. Moving a summing point
ahead of a block
R(s)
G1(s)
R(s)
1
G1 (s )
G1(s)
Y(s)
1
G1 (s )
Y(s)
B(s)
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Block Diagrams of Control Systems
Rules of Block Diagram Algebra
Original Block Diagram
6. Eliminating a feedback
loop
R(s) +
E(s)
G(s)
Equivalent Block Diagram
R(s)
Y(s)
G (s)
1 G ( s ) H ( s)
Y(s)
H(s)
Example 4.2: Consider the system shown in the following Figure.
Simplify this diagram?
H2
R
G1
G3
G2
H1
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagrams of Control Systems
Rules of Block Diagram Algebra
Example 4.2:(cont.)
H2
R
G1
G3
G2
H1
By moving the summing point of the negative feedback loop containing H2 outside the
positive feedback loop containing H1:
H2/G1
Y
R
G3
G1
G2
H1
Eliminating the positive feedback loop:
H2/G1
R
Dr. Ahmet Uar
G1G 2
1 G1G2 H 1
EEE 352 Chapter 4
G3
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Block Diagrams of Control Systems
Rules of Block Diagram Algebra
Example 4.2 : (cont.)
H2/G1
G1G 2
1 G1G2 H 1
G3
The elimination of the loop containing H2/G1:
G1G2G3
1 G1G2 H1 G2G3 H 2
Finally, eliminating the feedback loop results overall system transfer function:
R
G1G 2G3
1 G1G2 H 1 G2G3 H 2 G1G 2G3
Remark. The numerator of the closed-loop transfer function Y(s)/R(s) is the product of
the transfer functions of the feedforward path: G1(s)G2(s)G3(s)
The denominator of Y(s)/R(s) is equal to
1 - (product of the transfer functions around each loop)
Dr. Ahmet Uar
EEE 352 Chapter 4
13
Block Diagrams of Control Systems
Rules of Block Diagram Algebra
H2
Example 4.2 :(cont.)
R
G1
G3
G2
H1
The system transfer function:
G1G 2G3
1 G1G2 H 1 G2G3 H 2 G1G 2G3
Remark.
The numerator of the closed-loop transfer function Y(s)/R(s) is the product of
the transfer functions of the feedforward path: G1(s)G2(s)G3(s)
The denominator of Y(s)/R(s) is equal to
1 - (product of the transfer functions around each loop)
1 (G1G2 H 1 G2 G3 H 2 G1G2G3 )
1 G1G2 H 1 G2 G3 H 2 G1G2G3
The positive feedback loop yields a negative term in the denominator.
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EEE 352 Chapter 4
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Block Diagrams of Control Systems in MATLAB
Example 4.3: Find the transfer function of the following system with given blocks
transfer functions.
H2
R(s)
G1
G2
G4
G3
Y(s)
H1
H3
G1 ( s )
1
s 10
H1 ( s )
1
s 1
s2 1
G3 ( s ) 2
s 4s 4
G2 ( s )
G4 ( s )
s 1
s2
MATLAB Command
%%%%%%%%%%%%%%%%%%%%%
% Modelling blocks
ng1=[1]; dg1=[1 10];sysg1=tf(ng1,dg1)
ng2=[1]; dg2=[1 1];sysg2=tf(ng2,dg2)
ng3=[1 0 1]; dg3=[1 4 4];sysg3=tf(ng3,dg3)
ng4=[1 1]; dg4=[1 6];sysg4=tf(ng4,dg4)
nh1=[1 1]; dh1=[1 2];sysh1=tf(nh1,dh1)
nh2=[2]; dh2=[1];sysh2=tf(nh2,dh2)
nh3=[1]; dh3=[1];sysh3=tf(nh3,dh3)
H 2 ( s) 2
H 3 ( s) 1
s 1
s 6
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EEE 352 Chapter 4
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Block Diagrams of Control Systems in MATLAB
Example 4.3:
sys1
H2/G4
R(s)
G1
sys6
sys
MATLAB Command
% Block Diagram Reduction
sys1=sysh2/sysg4
sys2=series(sysg3,sysg4)
sys3=feedback(sys2,sysh1,+1)
sys5
Y(s)
G3
G2
sys4
sys3
sys2
G4
H1
H3
sys4=series(sysg2,sys3)
sys5=feedback(sys4,sys1,-1)
sys6=series(sysg1,sys5)
sys=feedback(sys6,sysh3)
Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
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EEE 352 Chapter 4
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Block Diagrams of Control Systems in MATLAB
Ones many feedback loops simplified it is difficult to observe pole zero pairs to
reduce system transfer function futher. However this can readly achived with
Matlab.
MATLAB Command
sysmr = minreal(sys)
Eliminates cancels pole-zero pairs in transfer functions or zero-pole-gain
models.
The output sysmr has minimal order and the same response characteristics
as the original model sys.
Example 4.14: (cont.)
Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagrams of Control Systems in MATLAB
Example 4.3:
Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
MATLAB Command
sysmr = minreal(sys)
Y (s)
0.08333s 4 0.25s 3 0.25s 2 0.25s 0.1667
sysmr 5
R( s)
s 16.08s 4 72.75s 3 137 s 2 123.7 s 59.33
Both transfer functions have the same response characteristics
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagrams of Control Systems in MATLAB
Homework 4.1: Simplify the block diagram shown in Figure and obtain the
closed loop transfer function Y(s)/R(s).
H1(s)
Y(s)
R(s)
G3(s)
G2(s)
G1(s)
H2(s)
H3(s)
Homework 4.2: Simplify the block diagram shown in Figure and obtain the closed
loop transfer function Y(s)/R(s).
H3(s)
R(s)
E1(s)
G1(s)
G2(s)
E2(s)
G3(s)
Y(s)
H2(s)
H1(s)
Dr. Ahmet Uar
G4(s)
EEE 352 Chapter 4
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Block Diagrams of Control Systems
Drawing a Block Diagram of nolinear systems:
Write the equations that describe the dynamic behavior of each component.
Represent each equation individually'in block form.
Assemble the elements into a complete block diagram.
Example 4.4: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x ?
x 0.6 x 3 x x 2 0
yx
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagram of Nonlinear Systems
Solution 4.4: We start to draw the block diagram from the system output y
x(t)
y(t)
x0(0)0
1
x (t )
and considering the integration process as;
x 0.6 x 3x x 2 0
yx
x0(0)0
x0 (0) 0
x(t )
x (t )
x(t)
x(t)
y(t)
0.6
3
( )2
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagram of Nonlinear Systems
Example 4.5: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x1 ?
State initial
condition ;
x(t=0) 0
3
1
k ( x1 ) x1 x
m
c( x2 ) x2
xe= 0
Input
u(t) 0
Physical
System
f(x)
Output
ys(t)
x1
x1 x2
x 2 (1 x12 ) x1 x2 u
y x1
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagram of Nonlinear Systems
Solution 4.5: We start to draw the block diagram from the system output y and
considering the integration process.
k ( x1 ) x1 x13
x1 x2
x2 (1 x12 ) x1 x2 u
y x1
c( x2 ) x2 xe= 0
x1
x10(0)0
x20(0)0
u(t)
x 2 (t )
x2 ( t )
x1(t)
y(t)
1
( )3
Dr. Ahmet Uar
EEE 352 Chapter 4
23
Block Diagram of Nonlinear Systems
Homework 4.3: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x .
x ( x 2 1) x x u
Homework 4.4: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x1 .
x1 x2
x2 x1 x13 x2
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EEE 352 Chapter 4
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MATLAB/Simulink
Simulink provides a graphical editor, customizable block libraries, and solvers for
modeling and simulating dynamic systems. It is integrated with MATLAB, enabling
you to incorporate MATLAB algorithms into models and export simulation results
to MATLAB for further analysis.
The construction of a model is simplified with click-and-drag mouse operations.
Simulink includes a comprehensive block library of toolboxes to analyze and
design the linear and nonlinear systems.
Open Simulink Library Browser
Start MATLAB, and then in the MATLAB Command Window,
a) enter
simulink or
b) by clicking the Simulink icon in the MATLAB toolbar or
Dr. Ahmet Uar
EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
c) by clicking the MATLAB Start button, then selecting Simulink > Library Browser
The Simulink Library Browser in Figure 2 opens.
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EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
Create a New Simulink Model from Simulink Library Browser
1. From the Simulink Library Browser menu, select File> New> Model.
An empty model opens in the Simulink Editor;
2. Use Simulink library and build the system block diagram.
3. In the Simulink Editor, select File > Save.
4. In the Save As dialog box, enter a name for your model, and then click Save.
Simulink saves your model.
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EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
Example 4.6: Obtain SIMULINK model the following RC circuit.
ei
e0, e0(0)0
The complete block diagram of the system is;
e0(0)0
ei(t)
Dr. Ahmet Uar
e(t)
1
R
i(t)
1
C
EEE 352 Chapter 4
e0(t)
28
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Simulink Block Diagram of Control Systems
Solution 4.6:
Assume ei(t) is a DC input.
e0(0)0
ei(t)
1
R
e(t)
i(t)
1
C
e0(t)
The block diagram of the circuit/system can be directly implemented in
SIMULINK, as shown in the following Figure:
yo
ei
1/2
1/R
1/C
-1
ei ; e0
1
s
xo
Integrator
e0(0)
ei ; e0
1
Gain1
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EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
Example 4.7: A Damped Pendulum System is depicted Figure shows it can
rotate freely around its fixed point P. It consists of a rod with angle
represented by from the vertical position. Using the equation of motion for
a damped pendulum given by
T
c
g
sin c 2
v
ml
l
ml
here is the angle of the pendulum from the vertical (in radians),
c= 0.15 is the velocity damping term (in 1/sec),
m= 1 is the mass of the pendulum (in kilograms),
l =2.5 is the length (in meters),
g= 9.81 is the acceleration due to gravity (in m/s2) and
Tc is the force input (in N).
Changing state variable as ( , ) ( x1 , x2 ) leads to
P
h
x1 x2
T
g
c
x 2 sin x1 c 2
l
ml
ml
Obtain SIMULINK model the following nonlinear systems.
x 2
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EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
Solution 4.7:
x1 x2
T
g
c
x 2 sin x1 c 2
l
ml
ml
The SIMULINK model is given in the following Figure:
x 2
r
r
x2
x1
x2
K
1
s
1/ml
Tc
int x2
Scope
XY Graph
x1
1
s
sin
Sin(x1)
int x1
K
c/ml
-Kc/ml1
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EEE 352 Chapter 4
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Simulink Block Diagram of Control Systems
Open an Existing Model
Open an existing Simulink model from the Simulink Library Browser.
1. From the Simulink Library Browser menu, select File > Open.
2. In the Open dialog box, select the model file that you want to open, and then
click Open.
Dr. Ahmet Uar
EEE 352 Chapter 4
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Block Diagram of Control Systems
Homework 4.5: Model the following system in SIMULINK and depict the time
response of the system output y=x for;
a) u=0 and state initial condition; x0=(1,2).
b) u=1 and state initial condition; x0=(0,0).
x ( x 2 1) x x u
Homework 4.6: Model the following system in SIMULINK and depict x1 versus
x2 for
a) state initial condition; x0=(0.2,0.2).
b) state initial condition; x0=(4,4).
x1 x2
x 2 x1 ( x12 1) x2
Dr. Ahmet Uar
EEE 352 Chapter 4
33
Block Diagram of Nonlinear Systems
Homework 4.7: Model the following system in SIMULINK.
a) depict the time response of the system output y=x1 for state initial condition;
x0=(-1,1).
and depict x1 versus x2 for
b) state initial condition; x0=(-0.5,0).
c) state initial condition; x0=(0.5,0).
d) state initial condition; x0=(1.5,0).
x1 x2
x2 x1 x13 x2
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EEE 352 Chapter 4
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22.02.2015
EEE 352 Automatic Control Systems
Chapter 4: Block Diagrams of Control Systems
Remarks and Questions?
Dr. Ahmet Uar
EEE 352 Chapter 6
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