Block Diagram Simplification - Rules and Equivalents

 A graphical tool can help us to visualize the model of a system and evaluate the mathematical
relationships between their elements, using their transfer functions.
 In many control systems, the system of equations can be written so that their components do
not interact except by having the input of one part be the output of another part.
 In these cases, it is very easy to draw a block diagram that represents the mathematical
relationships in similar manner to that used for the component block diagram.

Plant Disturbance
Desired Control Actual
Output + Input Output
Input
Controller Actuator PROCESS
Filter


Sensor

Sensor Noise

Block Diagram
 It represents the mathematical relationships between the elements of the system.

U1(s) G1 Y1(s)

U1 (s)G1 (s)  Y1 (s)

 The transfer function of each component is placed in box, and the input-output relationships
between components are indicated by lines and arrows.

Block Diagram Algebra

Rule 1:
Y = X 1 – X2 – X3

X2 X2 X2
X3 X1 X1
Y Y Y

X1 X3 X3

Rule: 2 Associative and Commutative Properties

Y = G1G2X = G2G1X

X Y X Y X Y
G1 G2 G2 G1 G1G2

Rule: 3 Distributive Properties

Y = G1(X1 – X2) = G1X1 – G1X2

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 X1
G1
X1 Y
G1
Y
X2
X2
G1

Rule 4: Blocks in Parallel

Y
X G1
Y
X G1 + G2
G2

Rule 5: Positive Feedback Loop

Y
X G1

X 𝐆𝟏 Y
𝟏 − 𝐆𝟏 𝐆𝟐
G2

Output feed forward transfer function


Input 1  feedforward  feedback

Rule 6: Negative Feedback loop

G1
Y  G1 X  G 2G1 Y  X
1  G1 G 2

Y
X G1
X 𝐆𝟏 Y
𝟏 + 𝐆𝟏 𝐆𝟐
G2

Output feed forward transfer function


Input 1  feedforward  feedback

The gain of a single-loop negative feedback system is given by the forward gain
divided by the sum of 1 plus the loop gain

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Rule 7: Eliminating a feedback loop

Input Ea(s) Output

R(s) G(s) Y(s)

B(s)
H(s)
Y(s)
Closed-Loop Transfer Function

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s)

Y(s) = G(s) Ea(s)
Y(s) = G(s) [ R(s) - H(s) Y(s) ]
Y(s) [ 1 + G(s) H(s) ] = G(s) R(s)

Y(s)/R(s) = G(s)/(1 + G(s) H(s))

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s)

Y(s) = G(s) Ea(s)
Ea(s) = R(s) - H(s) G(s) Ea(s)
Ea(s) [ 1 + G(s) H(s) ] = R(s)

Ea(s)= R(s)/(1 + G(s) H(s))

Y(s) = R(s) G(s)/(1 + G(s) H(s))

Ea(s)= R(s)/(1 + G(s) H(s))

Note:
All the transformations can be derived by simple algebraic manipulation of the equations
representing the blocks.

Rule 8: Moving a summing point behind a block

X1 X3 X1 X3
G G

X2 G X2

Rule 9: Moving a pickoff point ahead of a block

X1 X2 X1 X2
G G

X2 X2 G

Rule 10: Moving a pickoff point behind of a block

X1 X2 X1 X2
G G

X1 X1 1/G

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Rule 11: Moving a summing point ahead of a block

X1 X3 X1 X3
G G

X2 1/G X2

Block Diagrams Reduction

The goal is to simplify the diagrams while maintaining the same relationships.

 Using block diagram, we can solve the equations by graphical simplification, which is often
easier and more informative than algebraic manipulation, even though the methods are in
every way equivalent.
 It is convenient to think of each block as representing an electronic amplifier with the transfer
function printed inside.
 The interconnections of blocks include summing points, where any number of signals may be
added together.

The following block diagram reduction algebra is used, when

1. Block in cascade (series)
2. Combining blocks in parallel
3. Eliminating a feedback loop
4. Moving a take-off point beyond a block
5. Moving a take-off point ahead of a block

Reduction Example 1

R(s) G1 G2 C(s)

H1 H2

H3

Solution:

Step 1: By eliminating the feedback path, we get

𝐆𝟏 𝐆𝟐
R(s) C(s)
𝟏 + 𝐆𝟏 𝐇 𝟏 𝟏 + 𝐆𝟐 𝐇 𝟐

H3

Step 2: Combining the blocks in series, we get

𝐆𝟏 𝐆𝟐
R(s) C(s)
ሺ𝟏 + 𝐆𝟏 𝐇𝟏 ሻሺ𝟏 + 𝐆𝟐 𝐇𝟐 ሻ

H3

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Step 3: Eliminating the feedback path, we get

𝐆 𝟏 𝐆𝟐
ሺ𝟏 + 𝐆𝟏 𝐇𝟏 ሻሺ𝟏 + 𝐆𝟐 𝐇𝟐 ሻ
R(s) 𝐆 𝟏 𝐆𝟐 C(s)
𝟏+ 𝐇
ሺ𝟏 + 𝐆𝟏 𝐇𝟏 ሻሺ𝟏 + 𝐆𝟐 𝐇𝟐 ሻ 𝟑

Simplifying, we get

𝐆 𝟏 𝐆𝟐
R(s) ሺ𝟏 + 𝐆𝟏 𝐇𝟏 ሻሺ𝟏 + 𝐆𝟐 𝐇𝟐 ሻ + 𝐆𝟏 𝐆𝟐 𝐇𝟑 C(s)

Reduction Example 2
Y
X Z
G1 G2

Solution:
Y

G2 𝐆𝟐
Y
𝟏 + 𝐆𝟏 𝐆𝟐 𝐇
X Z Z
G1 G2
𝐆𝟏 𝐆 𝟐
X 𝟏 + 𝐆𝟏 𝐆𝟐 𝐇
H

Reduction Example 3

Y
X Z
G1 G2

Solution:

G2 𝐆𝟐
Y
𝟏 − 𝐆𝟏 𝐆 𝟐 𝐇
X Z Z
G1 G2
𝐆𝟏 𝐆𝟐
X 𝟏 − 𝐆𝟏 𝐆 𝟐 𝐇
H

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Reduction Example 4

H2

R(s) G1 G2 G3 G4 Y(s)

H1

H3

Solution:
Step 1:

H2

R(s) G1 G2 G3 G4 Y(s)

H1

H3

Step 2:

H2/G4

𝐆𝟑 𝐆𝟒
R(s) G1 G2 Y(s)
𝟏 − 𝐆𝟑 𝐆𝟒 𝐇𝟏

H3

Step 3:
𝐆𝟐 𝐆𝟑 𝐆𝟒
R(s) G1 Y(s)
𝟏 − 𝐆𝟑 𝐆𝟒 𝐇𝟏 + 𝐆𝟐 𝐆𝟑 𝐇𝟐

H3

Step 4:
𝐆𝟏 𝐆𝟐 𝐆𝟑 𝐆𝟒
R(s) 𝟏 − 𝐆𝟑 𝐆𝟒 𝐇𝟏 + 𝐆𝟐 𝐆𝟑 𝐇𝟐 + 𝐆𝟏 𝐆𝟐 𝐆𝟑 𝐆𝟒 𝐇𝟑 Y(s)

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 Block Diagram Transfer Function using Algebraic Method

Example 1

X Ga Gb Gc Y
W Z

Solution:
W = XGa - Y
Z = GbGa X - GbY
Y = Gc GbGa X - GbY  + XGc
Y  1 + GbGc  = X Gc + GbGc Ga 
Y G + GbGc Ga Gc (1 + Ga Gb )
= c =
X 1 + Gc Gb 1 + Gc Gb

Example 2

2
G1 G2

X A 1/s 1/s Y
B

2s
Solution: G3

A  X  2 B  G3Y
Y  G1G2 A
B  G1 A

Y 2G1Y
X  G3Y
G1G2 G1G2
 1 2G1 
Y  G3  X
 G1G2 G1G2 

1
Y G1G2 s2
 
X 1  G1G2G3  2G1 25 2
1 2 
s s
Y 1
 2
X s  2s  25

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 Summary of Block Diagram Reduction Manipulations

Exercises
Reduce the Block diagrams by the rules of 'Block Diagram Algebra' and obtain the transfer functions
for the following:

1. Feedforward loop

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2. Negative Feedback and blocks in parallel

3. Negative feedback with inner loop

4. Feedforward modification of feedback control

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5. Positive feedback with load interaction

6. Cascade control loop

7. Cascade loop

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