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Control Systems - Block Diagram Reduction

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The concepts discussed in the previous chapter are helpful for reducing (simplifying) the block diagrams.

Block Diagram Reduction Rules

Follow these rules for simplifying (reducing) the block diagram, which is having many blocks, summing points and take-off points.
Rule 1 − Check for the blocks connected in series and simplify.

Rule 2 − Check for the blocks connected in parallel and simplify.

Rule 3 − Check for the blocks connected in feedback loop and simplify.

Rule 4 − If there is difficulty with take-off point while simplifying, shift it towards right.
Rule 5 − If there is difficulty with summing point while simplifying, shift it towards left.

Rule 6 − Repeat the above steps till you get the simplified form, i.e., single block.

Note − The transfer function present in this single block is the transfer function of the overall block diagram.

Example
Consider the block diagram shown in the following figure. Let us simplify (reduce) this block diagram using the block diagram reduction rules.

Step 1 − Use Rule 1 for blocks G1

1
and G2
2
. Use Rule 2 for blocks G3
3
and G4
4
. The modified block diagram is shown in the following figure.

Step 2 − Use Rule 3 for blocks G1

1
G2
2
and H1
1
. Use Rule 4 for shifting take-off point after the block G5
5
. The modified block diagram is shown in the following figure.
Step 3 − Use Rule 1 for blocks (G3
3
+ G4
4
) and G5
5
. The modified block diagram is shown in the following figure.

Step 4 − Use Rule 3 for blocks (G3

3
+ G4
4
)G5
5
and H3
3
. The modified block diagram is shown in the following figure.

Step 5 − Use Rule 1 for blocks connected in series. The modified block diagram is shown in the following figure.

Step 6 − Use Rule 3 for blocks connected in feedback loop. The modified block diagram is shown in the following figure. This is the simplified block diagram.

Therefore, the transfer function of the system is

2
2
Y (s) G1
1
G2
2
G (G3
3
+ G4
4
)
5 5
=
R(s) (1 + G1
1
G2
2
H1
1
){1 + (G3
3
+ G4
4
)G5
5
H3
3
}G5
5
− G1
1
G2
2
G5
5
(G3
3
+ G4
4
)H2
2

Note − Follow these steps in order to calculate the transfer function of the block diagram having multiple inputs.
Step 1 − Find the transfer function of block diagram by considering one input at a time and make the remaining inputs as zero.
Step 2 − Repeat step 1 for remaining inputs.

Step 3 − Get the overall transfer function by adding all those transfer functions.

The block diagram reduction process takes more time for complicated systems. Because, we have to draw the (partially simplified) block diagram after each step. So, to overcome this
drawback, use signal flow graphs (representation).
In the next two chapters, we will discuss about the concepts related to signal flow graphs, i.e., how to represent signal flow graph from a given block diagram and calculation of transfer
function just by using a gain formula without doing any reduction process.
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Mason's Gain Formula

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Let  us  now  discuss  the  Mason’s  Gain  Formula.  Suppose  there  are  ‘N’  forward  paths  in  a
signal flow graph. The gain between the input and the output nodes of a signal flow graph is
nothing but the transfer function of the system. It can be calculated by using Mason’s gain
formula.
Mason’s gain formula is

C
N
(s) Σ Pi Δi
i=1
= =
R Δ

(s)

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Where, Policy.
C(s) is the output node
Agree
R(s) is the input node

Learn more
T is the transfer function or gain between   and 
 Learn more
T is the transfer function or gain between  R(s)  and  C(s)

Pi is the ith forward path gain

= 1

(sum of all individual loop gains)

(sum of gain products of all possible two nontouching loops)

(sum of gain products of all possible three nontouching loops)+. . .

Δi is obtained from Δ by removing the loops which are touching the ith forward path.
Consider  the  following  signal  flow  graph  in  order  to  understand  the  basic  terminology
involved here.

Path
It  is  a  traversal  of  branches  from  one  node  to  any  other  node  in  the  direction  of  branch
arrows. It should not traverse any node more than once.

Examples −  y2  and  y5

→ y3 → y4 → y5 → y3 → y2

Forward Path
The path that exists from the input node to the output node is known as forward path.
The path that exists from the input node to the output node is known as forward path.

Examples −  y1  and  y1 .
→ y2 → y3 → y4 → y5 → y6 → y2 → y3 → y5 → y6

Forward Path Gain
It is obtained by calculating the product of all branch gains of the forward path.

Examples −  abcde   is  the  forward  path  gain  of  y1   and

→ y2 → y3 → y4 → y5 → y6

abge is the forward path gain of  y1 .
→ y2 → y3 → y5 → y6

Loop
The path that starts from one node and ends at the same node is known as loop. Hence, it
is a closed path.

Examples −  y2  and  y3 .
→ y3 → y2 → y5 → y3

Loop Gain
It is obtained by calculating the product of all branch gains of a loop.

Examples  −  bj   is  the  loop  gain  of  y2   and  gh   is  the  loop  gain  of 
→ y3 → y2

y3 .
→ y5 → y3

Non­touching Loops
These are the loops, which should not have any common node.

Examples − The loops,  y2  and  y4  are non­touching.

→ y3 → y2 → y5 → y4

Calculation of Transfer Function using Mason’s Gain Formula
Let us consider the same signal flow graph for finding transfer function.
 Number of forward paths, N = 2.

First forward path is ­  y1 → y2 → y3 → y4 → y5 → y6 .

First forward path gain,  p1 = abcde .

Second forward path is ­  y1 → y2 → y3 → y5 → y6 .

Second forward path gain,  p2 = abge .

Number of individual loops, L = 5.

Loops  are  ­  y2 → y3 → y2 ,  y3 → y5 → y3 ,  y3 → y4 → y5 → y3 , 

y4 → y5 → y4  and  y5 → y5 .

Loop gains are ­  l1 = bj ,  l2 = gh ,  l3 = cdh ,  l4 = di  and  l5 = f .

Number of two non­touching loops = 2.

First non­touching loops pair is ­  y2 → y3 → y2 ,  y4 → y5 → y4 .

Gain product of first non­touching loops pair,  l1 l4 = bjdi

Second non­touching loops pair is ­  y2 → y3 → y2 ,  y5 → y5 .

Gain product of second non­touching loops pair is ­  l1 l5 = bjf

Higher  number  of  (more  than  two)  non­touching  loops  are  not  present  in  this  signal  flow
graph.
We know,

= 1

(sum of all individual loop gains)

(sum of gain products of all possible two nontouching loops)

(sum of gain products of all possible three nontouching loops)+. . .

Substitute the values in the above equation,

= 1

(bj

+ gh + cdh + di + f ) + (bjdi + bjf ) − (0)

⇒ Δ

= 1

(bj

+ gh + cdh + di + f ) + bjdi + bjf

There is no loop which is non­touching to the first forward path.

So,  Δ1 .
= 1

Similarly,  Δ2 . Since, no loop which is non­touching to the second forward path.
= 1

Substitute, N = 2 in Mason’s gain formula

C
 2
(s) Σ Pi Δi
i=1
= =
R Δ

(s)

(s) P1 Δ1 + P2 Δ2
= =
R Δ

(s)

Substitute all the necessary values in the above equation.

(s) (abcde)1 + (abge)1

= =
R 1

(s) −

(bj

+ gh + cdh + di + f ) + bjdi + bjf

⇒ T

(s) (abcde) + (abge)

= =
R 1

(s) −

(bj

+ gh + cdh + di + f ) + bjdi + bjf

Therefore, the transfer function is ­

(s) (abcde) + (abge)

= =
R 1

(s) −

(bj

+ gh + cdh + di + f ) + bjdi + bjf

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