ELEC3114 Control Systems Lecture 4: Reduction of Multiple Subsystems

1
ELEC3114 Control Systems
Lecture 4: Reduction of Multiple

Subsystems
Lecturer: Dr Hendra I Nurdin
Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
2
Antenna Azimuth

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The Design Process (Antenna Azimuth)
Step 5: Reduce the Block Diagram

4
Reduction of Multiple
Subsystems
•  How to reduce a block diagram of multiple subsystems to a single
block representing the transfer function from input to output
•  How to analyze and design transient response for a system consisting

of multiple subsystems
•  How to represent in state space a system consisting of multiple

subsystems
•  How to convert to alternate representations of a system in state space

5
Block diagram components

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Block diagrams
Cascaded subsystems
X1(s) = X2(s) =

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Block diagrams
Parallel subsystems

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Block diagrams
Feedback systems
“-” negative feedback

“+” positive feedback
C ( s) G( s)
Ge ( s) = =
R( s ) 1 ± G ( s ) H ( s )
G(s)H(s) … open-loop transfer function

(or loop gain)

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C(s) = G(s)E(s)
E(s) = R(s) ⌥ H(s)C(s)
) C(s) = G(s)(R(s) ⌥ H(s)C(s))
) (1 ± G(s)H(s))C(s) = G(s)R(s)
C(s) G(s)
) =
R(s) 1 ± G(s)H(s)

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Servo position control system
R(s) C(s) = θm(s)

+
⌦
−
Kamp

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Simple feedback control system
K = Kamp Kt / (Ra Jm)

a = (Dm + KtKb/Ra)/Jm
" a2 %
K ∈ $ 0, ' : … Overdamped response
# 4&
a2 a
K= : s1,2 = … Critically damped
4 2
a2 … Underdamped response
K> :
4

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Example 5.3 Find Tp, %OS, and Ts for the following system
Solution 25
C(s) s(s + 25) 25
T (s) = = = 2
R(s) 1+ 25 s + 5s + 25
s(s + 5)
So, π
Tp = = 0.726 s
ω n = 25 = 5 ω n 1− ζ 2
2ζω n = 5 −
ζπ
1−ζ 2
ζ = 0.5 %OS = e ×100 = 16.303
4
Ts ≈ = 1.6
ζω n
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Example 5.4 Find the value of the gain K for the system below so that it
responds with a 10% OS.
Solution C(s) K
T (s) = = 2
R(s) s + 5s + K
So,
2ζω n = 5
ωn = K
5 25
ζ= ⇔K = 2
2 K 4ζ
10%OS ⇒ ζ = 0.591 ⇒ K = 17.9

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Moving blocks to create familiar forms

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16

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Example 5.1 Reduce the following system to a single transfer function

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Example 5.2 Reduce the following block diagram to a single transfer function

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25

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Antenna azimuth
Ns, Js, Ds
DL
JL
No, Jo, Do
Np, Jp, Dp
DC motor:
✓m (s) Kt /(Ra /Jm )
= ✓o (s) Ns
Ea (s) s(s + (1/Jm )(Dm + Kt Kb /Ra )) =
✓m (s) No
Jm = Js + (Ns /No )2 (Jo + JL ) + (Ns /No )2 (No /Np )2 Jp
✓p (s) No
= Js + (Ns /No )2 (Jo + JL ) + (Ns /Np )2 Jp =
✓o (s) Np
Dm = Ds + (Ns /No )2 (Do + DL ) + (Ns /Np )2 Dp

27
Antenna azimuth
Ns, Js, Ds
DL
JL
No, Jo, Do
Np, Jp, Dp
✓i (s) + Ea (s) ✓m (s) ✓o (s)

K1
−
⌦ Kamp
Ns
No
✓p (s)
No
K2 Np
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Antenna azimuth
✓i (s) + Ea (s) ✓m (s) ✓o (s)

K1
−
⌦ Kamp
Ns
No
✓p (s) No
K2 Np
✓o (s) G(s)
= K1
✓i (s) 1 + G(s)H(s)
K1 Kamp Kt Ns /(Ra Jm No )
= 2
s + ((Dm + Kt Kb /Ra )/Jm )s + K2 Kamp Kt Ns /(Ra Jm Np )

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Signal-flow graphs
Branches – represent systems
Nodes – represent signals

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Signal-flow graphs
V (s) = G1 (s)R1 (s) − G2 (s)R2 (s) + G3 (s)R3 (s)

C1 (s) = G4 (s)V (s) = G4 (s)G1 (s)R1 (s) − G4 (s)G2 (s)R2 (s) + G4 (s)G3 (s)R3 (s)
C2 (s) = G5 (s)V (s) = G5 (s)G1 (s)R1 (s) − G5 (s)G2 (s)R2 (s) + G5 (s)G3 (s)R3 (s)
C3 (s) = −G6 (s)V (s) = −G6 (s)G1 (s)R1 (s) + G6 (s)G2 (s)R2 (s) − G6 (s)G3 (s)R3 (s)

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Example 5.5 Convert the cascaded, parallel, and feedback forms into signal
flow graphs
Cascaded:
X1(s) = X2(s) =
X1(s) X2(s) X1(s) X2(s)

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Parallel:
X1(s)
X1(s) X1(s)
X2(s) X2(s)
XX33(s)
(s) X3(s)

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Feedback:

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Example 5.6 Convert the block diagram from Example 5.2 to a signal-flow
graph

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36

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Mason’s Rule
•  As with block diagrams, there is a technique for reducing signal

flow graphs to a single transfer function.
•  Reduction of a signal flow graph to a single transfer function
require the application of one formula known as Mason’s Rule,
obtained by S. J. Mason in 1953.

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Mason’s Rule
Definition
Loop gain. The product of branch gains found by traversing a path that starts at
a node and ends at the same node, following the direction of the signal flow,
without passing through any other node more than once.
Four loop gains:

39
Mason’s Rule
Definition
Forward-path gain. The product of gains found by traversing a path from the
input node to the output node of the signal-flow graph in the direction of signal
flow, without going through any node more than once.
Two forward-path gains:

40
Mason’s Rule
Definition
Nontouching loops. Loops that do not have any nodes in common.
The loop G2(s)H1(s) does not touch the loops G4(s)H2(s), G4(s)G5(s)H3(s), and
G4(s)G6(s)H3(s). The latter three loops touch one another (have a node in
common).

41
Mason’s Rule
Definition
Nontouching-loop gain. The product of loop gains from nontouching loops taken
two, three, four, or more at a time.
Three nontouching-loop gains taken two at a time:
This example has no nontouching-loop gains taken at three or more at a time.

42
Mason’s Rule
Mason’s Rule
The transfer function C(s)/R(s) of a system represented by a signal flow graph is
P
C(s) k Tk k
G(s) = =
R(s)
Notice alternating signs in
this formula

43
Example 5.7 Find the transfer function C(s)/R(s) for the following signal flow
graph
Solution:
•  Identify forward path gains: only one,
•  Identify loop gains: there are four,

44
Loop gains:
•  Identify non-touching loop gains taken two at a time: there are three,
•  Identify non-touching loop gains taken three at a time: there is only one

45
Loop gains:
•  There are no non-touching loop gains taken four or more at a time.

•  Determine Δ and, since there is only one forward path, Δ1:

46
Loop gains:
•  Apply Mason’s Rule:

47
Example 5.27 Using Mason’s rule, find the transfer function, T(s) = C(s) /
R(s), for the system represented by figure below.
Solutions to Problems 5-33
•  Forward path gains (4 of them): (i) T1(s) = G1(s)G2(s)G4(s)G6(s)G7(s), !

(ii) T2(s) = G1(s)G2(s)G5(s)G6(s)G7(s), (iii) ! T3(s) = G1(s)G3(s)G4(s)G6(s)G7(s),
27.(iv) G (s)G (s)G (s) G (s)G (s)
1 3 5
Closed-loop gains: G2G46G6G77H3; G2G5G6G7H3; G3G4G6G7H3; G3G5G6G7H3; G6H1; G7H2
•  Loop gains: (i) G2(s)G4(s)G6(s)G7(s)H3(s), (ii) G2(s)G5(s)G6(s)G7(s)H3(s), (iii)
G3(s)G 4(s)G6(s)G
Forward-path 7(s)H
gains: T1 =3(s),
G1G(iv)
2G4GG
6G3(s)G
7; T25=(s)G
G1G6(s)G
2G5G76(s)H
G7; T33(s),
= G(v)
1G3G
G64(s)H
G6G7;1(s),
T4 =
(vi) G7(s)H2(s)
G1G3G5G6G7loops taken 2 at a time: G (s)H (s)G (s)H (s)
•  Non-touching 6 1 7 2
Nontouching loops 2 at a time: G6H1G7H2
= 1 - [H3G6G7(G2G4 + G2G5 + G3G4 + G3G5) + G6H1 + G7H2] +Control

[G 6H©12004
Copyright
G7byH ]
Systems Engineering, Fourth Edition by Norman S. Nise
John2Wiley & Sons. All rights reserved.
= = = =1
48
!
•  Δ(s) = 1 − [G2(s)G4(s)G6(s)G!7(s)H3(s) +
27. G2(s)G5(s)G6(s)G7(s)H3(s) + G3(s)G4(s)G6(s)G7(s)H3(s) +
Closed-loop gains: G2G4G6G7H3; G2G5G6G7H3; G3G4G6G7H3; G3G5G6G7H3; G6H1; G7H2
G3(s)G5(s)G6(s)G7(s)H3(s) + G6(s)H1(s) + G7(s)H2(s)] +
G6(s)H1(s)G
Forward-path gains:7T(s)H
1 = G21(s)
G2G4G6G7; T2 = G1G2G5G6G7; T3 = G1G3G4G6G7; T4 =
•  G1ΔG13G(s) = Δ (s) = Δ3(s) = Δ4(s) = 1.
5G6G7 2
Nontouching loops 2 at a time: G6H1G7H2
= 1 - [H3G6G7(G2G4 + G2G5 + G3G4 + G3G5) + G6H1 + G7H2] + [G6H1G7H2]

1= 2= 3= 4=1 Copyright © 2004 by John Wiley & Sons. All rights reserved.
49
T1 (s) 1 (s) + T2 (s) 2 (s) + T3 (s) 3 (s) + T4 (s) 4 (s)

!
T (s) = !
(s)
27.
N (s)
=Closed-loop gains: G2G4G6G7H3; G2G5G6G7H3; G3G4G6G7H3; G3G5G6G7H3; G6H1; G7H2
D(s)
N (s) =Forward-path
G1 (s)G2 (s)Ggains:
4 (s)GT61(s)G
= G17G 2G+4G
(s) G61G(s)G
7; T22 (s)G
= G15G(s)G
2G5G 6G7;7T(s)
6 (s)G 3 =+GG
1G 3G4G36(s)G
1 (s)G G7; T 4 = 6 (s)G7 (s)
4 (s)G
G1 (s)G3 (s)G5 (s)G6 (s)G7 (s)
G G G G6G7
D(s) = 11 3H35(s)G 6 (s)G7 (s)(G2 (s)G4 (s) + G2 (s)G5 (s) + G3 (s)G4 (s) + G3 (s)G5 (s)) G6 (s)H1 (s)
G7 (s)Hloops
Nontouching 2 (s) +
2Gat6a(s)H
time:1 (s)G
G6H71(s)H
G7H22 (s)
= 1 - [H3G6G7(G2G4 + G2G5 + G3G4 + G3G5) + G6H1 + G7H2] + [G6H1G7H2]
1= 2= 3= 4=1
T1 1 + T2 2 + T3 3 + T4 4
T(s) =

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1

ELEC3114 Control Systems

Lecture 4: Reduction of Multiple

Lecturer: Dr Hendra I Nurdin

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

The Design Process (Antenna Azimuth)

Step 5: Reduce the Block Diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise

• How to analyze and design transient response for a system consisting

• How to represent in state space a system consisting of multiple

• How to convert to alternate representations of a system in state space

Control Systems Engineering, Fourth Edition by Norman S. Nise

Block diagram components

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

“-” negative feedback

G(s)H(s) … open-loop transfer function

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Servo position control system

R(s) C(s) = θm(s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Simple feedback control system

K = Kamp Kt / (Ra Jm)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Moving blocks to create familiar forms

Control Systems Engineering, Fourth Edition by Norman S. Nise

Moving blocks to create familiar forms

Control Systems Engineering, Fourth Edition by Norman S. Nise

Moving blocks to create familiar forms

Control Systems Engineering, Fourth Edition by Norman S. Nise

Moving blocks to create familiar forms

Control Systems Engineering, Fourth Edition by Norman S. Nise

Example 5.1 Reduce the following system to a single transfer function

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

✓i (s) + Ea (s) ✓m (s) ✓o (s)

✓i (s) + Ea (s) ✓m (s) ✓o (s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Branches – represent systems

Nodes – represent signals

Control Systems Engineering, Fourth Edition by Norman S. Nise

V (s) = G1 (s)R1 (s) − G2 (s)R2 (s) + G3 (s)R3 (s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

X1(s) X2(s) X1(s) X2(s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

Control Systems Engineering, Fourth Edition by Norman S. Nise

•  How to analyze and design transient response for a system consisting

•  How to represent in state space a system consisting of multiple

•  How to convert to alternate representations of a system in state space

•  As with block diagrams, there is a technique for reducing signal

•  There are no non-touching loop gains taken four or more at a time.

•  Apply Mason’s Rule:

•  Forward path gains (4 of them): (i) T1(s) = G1(s)G2(s)G4(s)G6(s)G7(s), !