CONTROL SYSTEM – BLOCK DIAGRAM

Lesson Overview
In this lesson, it discusses the control system block diagram; the basic elements of block diagram, block
diagram representation of electrical systems, block diagram algebra, basic connections of block, series, parallel,
feedback, summing-points, take-off points, block diagram reduction, signal flow graphs, conversion from block
diagram to signal flow graph, Mason’s Gain Formula .

Specific Learning Outcomes:

• Familiarize the elements of block diagram, algebra, and basic connection of blocks.
• Familiarize the different connection of blocks as series, parallel, and feedback.
• Use the above skills in solving simple control system block diagram.
• Familiarize the function of the summing and take-off points.
• Apply the above skills in solving complicated control system block diagram.
• Solve complicated control system block diagram by converting into signal flow graph, or by using Mason’s
Gain formula.

Additional Reference/s:
• tutorialspoint.com
• Modern Control System. Richard C. Dorf and Robert H. Bishop

Key Terminologies:
• block diagram • consist of a single block or a combination of blocks. These are used to
represent the control systems in pictorial form
• summing point • is represented with a circle having cross (X) inside it. It has two or more
inputs and single output.
• take-off point • is a point from which the same input signal can be passed through more
than one branch
• block • the transfer function of a component is represented by a block. Block
has single input and single output.

Block Diagrams
Block diagrams consist of a single block or a combination of blocks. These are used to represent the
control systems in pictorial form.

Basic Elements of Block Diagrams

The basic elements of a block diagram
are a block, the summing point and the take-off
point. Let us consider the block diagram of a
closed loop control system as shown in the
following figure to identify these elements.

The above block diagram consists of two

blocks having transfer functions G(s) and H(s). It
is also having one summing point and one take-off point. Arrows indicate the direction of the flow of signals.
Let us now discuss these elements one by one.

Block
The transfer function of a component is represented by a block. Block has single input and single
output.
The following figure shows a block having input X(s), output Y(s) and the transfer function G(s).

Transfer function,

Output of the block is obtained by multiplying transfer function of the block with input.

Summing Point
The summing point is represented with a circle having cross (X) inside it. It has two or more inputs and
single output. It produces the algebraic sum of the inputs. It also performs the summation or subtraction or
combination of summation and subtraction of the inputs based on the polarity of the inputs. Let us see these
three operations one by one.
The following figure shows the summing point with two inputs (A, B) and one output (Y). Here, the
inputs A and B have a positive sign. So, the summing point produces the output, Y as sum of A and B.

The following figure shows the summing point with two inputs
(A, B) and one output (Y). Here, the inputs A and B are having opposite
signs, i.e., A is having positive sign and B is having negative sign. So, the
summing point produces the output Y as the difference of A and B.
 The following figure shows the summing point with three inputs (A, B, C) and one output (Y). Here, the
inputs A and B are having positive signs and C is having a negative sign. So, the summing point produces the
output Y as

Take-off Point
The take-off point is a point from which the same input signal can be passed through more than one
branch. That means with the help of take-off point, we can apply the same input to one or more blocks,
summing points.
In the following figure, the take-off point is used to connect the same input, R(s) to two more blocks.

In the following figure, the take-off point is used to connect the output (s), as one of the inputs to the
summing point.
Block Diagram Representation of Electrical Systems
In this section, let us represent an electrical system with a block diagram. Electrical systems contain
mainly three basic elements — resistor, inductor and capacitor. Consider a series of RLC circuit as shown in
the following figure. Where, Vi(t) and Vo(t) are the input and output voltages. Let (t) be the current passing
through the circuit. This circuit is in time domain.

By applying the Laplace transform to this circuit, will get the circuit in s-domain. The circuit is as shown
in the following figure.

From the above circuit, we can write –

Let us now draw the block

diagrams for these two equations
individually. And then combine
those block diagrams properly in
order to get the overall block
diagram of series of RLC Circuit (s-
domain).

The equation above can be

implemented with a block having
the transfer function, 1/ + Rs + sL.
 The input and output of this block are {Vi (s) −Vo (s)} and (s). We require a summing point to get {Vi (s)
− Vo(s)}. The block diagram of the equation above is shown in the following figure.

The above equation can be implemented with a block having transfer function, 1/sC. The input and
output of this block are I(s) and Vo(s). The block diagram of Equation 2 is shown in the following figure.

The overall block diagram of the series of RLC Circuit (s-domain) is shown in the following figure.

Similarly, you can draw the block diagram of any electrical circuit or system just by following this
simple procedure.
▪ Convert the time domain electrical circuit into an s-domain electrical circuit by applying Laplace
transform.
▪ Write down the equations for the current passing through all series branch elements and voltage
across all shunt branches.
▪ Draw the block diagrams for all the above equations individually.
▪ Combine all these block diagrams properly in order to get the overall block diagram of the electrical
circuit (s-domain).

BLOCK DIAGRAM ALGEBRA

Block diagram algebra is nothing but the algebra involved with the basic elements of the block
diagram. This algebra deals with the pictorial representation of algebraic equations.

Basic Connections for Blocks

There are three basic types of connections between two blocks.

Series Connection
Series connection is also called cascade connection. In the following figure, two blocks having transfer
functions G1(s) and G2(s) are connected in series.

For this combination, we will get the output Y(s ) as

 Compare this equation with the standard form of the output equation,

That means we can represent the series connection of two blocks with a single block. The transfer
function of this single block is the product of the transfer functions of those two blocks. The equivalent block
diagram is shown below.

Similarly, you can represent series connection of ‘n’ blocks with a single block. The transfer function of
this single block is the product of the transfer functions of all those ‘n’ blocks.

Parallel Connection
The blocks which are connected in parallel will have the same input. In the following figure, two blocks
having transfer functions G1(S) and G2(S) are connected in parallel. The outputs of these two blocks are
connected to the summing point.

For this combination, we will get the output Y(s) as

Compare this equation with the standard form of the output equation,

That means we can represent the parallel connection of two blocks with a single block. The transfer
function of this single block is the sum of the transfer functions of those two blocks. The equivalent block
diagram is shown below.
 Similarly, you can represent parallel connection of ‘n’ blocks with a single block. The transfer function
of this single block is the algebraic sum of the transfer functions of all those ‘n’ blocks.

Feedback Connection
As we discussed in previous chapters, there are two types of feedback — positive feedback and
negative feedback. The following figure shows negative feedback control system. Here, two blocks having
transfer functions G(s) and H(s) form a closed loop.

The output of the summing point is –

The output Y(s) is –

Substitute E(s) value in the above equation.

Therefore, the negative feedback closed loop transfer function is

This means we can represent the negative feedback connection of two blocks with a single block. The
transfer function of this single block is the closed loop transfer function of the negative feedback. The
equivalent block diagram is shown below.

Similarly, you can represent the positive feedback connection of two blocks with a single block. The
transfer function of this single block is the closed loop transfer function of the positive feedback, i.e., G(s)/1−
G(s)H(s).

BLOCK DIAGRAM ALGEBRA FOR SUMMING POINTS

There are two possibilities of shifting summing points with respect to blocks:
▪ Shifting summing point after the block
▪ Shifting summing point before the block
Let us now see what kind of arrangements need to be done in the above two cases one by one.

Shifting Summing Point After the Block

Consider the block diagram shown in the following figure. Here, the summing point is present before
the block.

Now, shift the summing point after the block. This block diagram is shown in the following figure.

The output of the summing point is

Compare the above two equations.

this block is given as input to summing point instead of X(s). This block diagram is shown in the following
figure.

Shifting Summing Point Before the Block

Consider the block diagram shown in the following figure. Here, the summing point is present after the
block.

Output of this block diagram is -

Now, shift the summing point before the block. This block diagram is shown in the following figure.

Output of this block diagram is -

Block Diagram Algebra for Take-off Point
There are two possibilities of shifting the take-off points with respect to blocks:
▪ Shifting take-off point after the block
▪ Shifting take-off point before the block
Let us now see what kinds of arrangements are to be done in the above two cases, one by one.

Shifting Take-off Point After the Block

Consider the block diagram shown in the following figure. In this case, the take-off point is present
before the block.

Shifting Take-off Point Before the Block

Consider the block diagram shown in the following figure. Here, the take-off point is present after the
block.
BLOCK DIAGRAM REDUCTION
The concepts discussed in the previous lesson 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 and G2. Use Rule 2 for blocks G3 and G4. The modified block diagram is
shown in the following figure.

Step 2: Use Rule 3 for blocks G1G2 and H1. Use Rule 4 for shifting take-off point after the block G5. The
modified block diagram is shown in the following figure.

Step 3: Use Rule 1 for blocks (G3 +G4) and G5. The modified block diagram is shown in the following figure.

Step 4: Use Rule 3 for blocks (G3 +G4)G5 and H3. 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

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 lessons, 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.

SIGNAL FLOW GRAPHS

Signal flow graph is a graphical representation of algebraic equations. In this chapter, let us discuss the
basic concepts related signal flow graph and also learn how to draw signal flow graphs.

Basic Elements of Signal Flow Graph

Nodes and branches are the basic elements of signal flow graph.

Node
Node is a point which represents either a variable or a signal. There are three types of nodes — input
node, output node and mixed node.
▪ Input Node: It is a node, which has only outgoing branches.
▪ Output Node: It is a node, which has only incoming branches.
▪ Mixed Node: It is a node, which has both incoming and outgoing branches.

Example
Let us consider the following signal flow graph to identify these nodes.

▪ The nodes present in this signal flow graph are y1, y2, y3 and y4.
▪ y1 and y4 are the input node and output node respectively.
▪ y2 and y3 are mixed nodes.

Branch
Branch is a line segment which joins two nodes. It has both gain and direction. For example, there are
four branches in the above signal flow graph. These branches have gains of a, b, c and -d.

Construction of Signal Flow Graph

Let us construct a signal flow graph by considering the following algebraic equations:

There will be six nodes (y1, y2, y3, y4, y5 and y6) and eight branches in this signal flow graph. The gains of
the branches are a12, a23, a34, a45, a56, a42, a53 and a35.
 To get the overall signal flow graph, draw the signal flow graph for each equation, then combine all
these signal flow graphs and then follow the steps given below:
Conversion of Block Diagrams into Signal Flow Graphs
Follow these steps for converting a block diagram into its equivalent signal flow graph.
▪ Represent all the signals, variables, summing points and take-off points of block diagram as nodes in
signal flow graph.
▪ Represent the blocks of block diagram as branches in signal flow graph.
▪ Represent the transfer functions inside the blocks of block diagram as gains of the branches in signal
flow graph.
▪ Connect the nodes as per the block diagram. If there is connection between two nodes (but there is no
block in between), then represent the gain of the branch as one. For example, between summing
points, between summing point and takeoff point, between input and summing point, between take-
off point and output.

Example
Let us convert the following block diagram into its equivalent signal flow graph.
 The following figure shows the equivalent signal flow graph.

With the help of Mason’s gain formula (discussed in the next lesson), you can calculate the transfer
function of this signal flow graph. This is the advantage of signal flow graphs. Here, we no need to simplify
(reduce) the signal flow graphs for calculating the transfer function.

MASON’S GAIN FORMULA

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

Consider the following signal flow graph in order to understand the basic terminology involved here.
Calculation of Transfer Function using Mason’s Gain Formula
Let us consider the same signal flow graph for finding transfer function.
Substitute, = 2 in Mason’s gain formula

Substitute all the necessary values in the above equation.

Therefore, the transfer function is –