REDUCTION OF MULTIPLE SUBSYSTEMS

 Chapter Learning Outcomes

1. Reduce a block diagram of multiple subsystems to a single block representing
the transfer function from input to output
2. Analyze and design transient response for a system consisting of multiple subsystems
3. Convert block diagrams to signal-flow diagrams
4. Find the transfer function of multiple subsystems using Mason’s rule
5. Represent state equations as signal-flow graphs
6. Represent multiple subsystems in state space in cascade, parallel, controller
canonical, and observer canonical forms
7. Perform transformations between similar systems using transformation matrices;
and diagonalize a system matrix

Control Systems Engineering, Fourth Edition by Norman S. Nise

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BLOCK DIAGRAM

ILO:
1. Discuss block diagram and signal flow graphs
2. Solve problems related to block diagram and signal flow graphs
3. Apply the principles of block diagram and signal flow graphs to an actual
operation in the industry

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.1
The space shuttle
consists of multiple
subsystems. Can you
identify those that are
control systems, or parts
of control systems?

© NASA-Houston.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.2
Components of a
block diagram for
a linear,
time-invariant
system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.3
a. Cascaded
subsystems;
b. equivalent transfer
function

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.4
Loading in
cascaded
systems

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.5
a. Parallel
subsystems;
b. equivalent
transfer
function

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.6
a. Feedback control
system;
b. simplified model;
c. equivalent transfer Control Systems Engineering, Fourth Edition by Norman S. Nise

function
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.7
Block diagram
algebra for summing
junctions—
equivalent forms for
moving a block
a. to the left past a
summing junction;
b. to the right past a
summing junction

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.8
Block diagram algebra
for pickoff points—
equivalent forms for
moving a block
a. to the left past a
pickoff point;
b. to the right past a
pickoff point

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.9
Block
diagram
for
Example5.1

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.10
Steps in solving
Example 5.1:
a. collapse summing
junctions;
b. form equivalent
cascaded system
in the forward path
and equivalent
parallel system in the
feedback path;
c. form equivalent
feedback system and
multiply by cascaded
G1(s)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.11
Block diagram for
Example 5.2

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.12
Steps in the
block diagram
reduction for
Example 5.2 Control Systems Engineering, Fourth Edition by Norman S. Nise
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Figure 5.13
Block diagram
for
Skill-
Assessment
Exercise 5.1

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.14
Second-order
feedback control
system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.15
Feedback system for
Example 5.3

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.16
Feedback system for
Example 5.4

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.17
Signal-flow graph components:
a. system;
b. signal;
c. interconnection of systems and signals

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.18
Building signal-flow
graphs:
a. cascaded system
nodes (from Figure 5.3(a));
b. cascaded system
signal-flow graph;
c. parallel system
nodes (from Figure 5.5(a));
d. parallel system
signal-flow graph;
e. feedback system
nodes (from Figure
5.6(b));
f. feedback system
signal-flow graph

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.19
Signal-flow graph
development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-
flow graph

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.20
Signal-flow graph
for demonstrating
Mason’s rule

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.21
Signal-flow graph for
Example 5.7

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.22
Stages of
development of a
signal-flow graph
for the system of
Eqs. 5.36:
a. place nodes;
b. interconnect
state variables and
derivatives;
c. form dx1/dt ;
d. form dx2/dt
(figure continues)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.22
(continued)
e. form dx3 /dt;
f. form output

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.23
Representation of
Figure 3.10 system as
cascaded first-order
systems

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.24
a. First-order subsystem;
b. signal-flow graph for Figure 5.23 system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.25
Signal-flow
representation
of Eq. (5.45)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.26
Signal-flow
representation
of Eq. (5.52)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.27
Signal-flow graphs for obtaining forms for
G(s) = C(s)/R(s) = (s2 + 7s + 2)/(s3 + 9s2 + 26s + 24):
a. phase-variable form;
b. controller canonical form

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.28
Signal-flow graph for
observer canonical
form variables:
a. planning;
b. implementation

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.29
Feedback
control system
for Example 5.8

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.30
Creating a signal-
flow
graph for the
Figure 5.29
system:
a. forward
transfer
function;
b. complete
system

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.31
State-space forms for
C(s)/R(s) =
(s+ 3)/[(s+ 4)
(s+ 6)].
Note: y = c(t)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.32
State-space
transformations

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.33
To be an eigenvector,
the transformation Ax
must be collinear with
x; thus in (a), x is not
an eigenvector; in (b),
it is.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.34
Alvin, a manned
submersible,
explored the
wreckage of
theTitanic with a
tethered robot,
Jason Junior.

© Rob Catanach, Woods Hole Oceanographic Institution.

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.35
Block diagram
reduction for the
antenna azimuth
position control
system:
a. original;
b. pushing input
potentiometer to
the right past the
summing junction;
c. showing equivalent
forward transfer
function;
d. final closed-loop transfer
function

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.36
Signal-flow graph for
the antenna azimuth
position control
system

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.37
Block diagram of
the UFSS vehicle’s
elevator and vehicle
dynamics, from which
a signal-flow graph
can be drawn

Control Systems Engineering, Fourth Edition by Norman S. Nise

Copyright © 2004 by John Wiley & Sons. All rights reserved.
Figure 5.38
Signal-flow graph
representation of the
UFSS vehicle’s pitch-
control system:
a. without position and
rate feedback;
b. with position and
rate feedback
(Note: Explicitly
required variables are:
x1 = , x2 = d/dt,
and x4 =e)

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure 5.39
Block diagram of the heading
control system for the UFSS
vehicle

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.1

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Figure P5-2 (p. 301)

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Figure P5.3

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Figure P5.4

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Figure P5.5

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Figure P5.6

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Figure P5-7 (p. 303)

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Figure P5.8

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Figure P5.9

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Figure P5.10

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Figure P5.20

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Figure P5-21 (p. 307)

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Figure P5.22

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Figure P5.23

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5-24a (p. 309)
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Figure P5-24b (p. 310)
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Figure P5.25

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Figure P5.26

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Figure P5.28

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Figure P5.29

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.30

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.31

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.32
Space shuttle pitch
control system
(simplified)

© 1988, Rockwell International.

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.33
AM modulator

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.34
Feedback control system representing human
eye movement

Control Systems Engineering, Fourth Edition by Norman S. Nise

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 Courtesy of Hank
Morgan/Rainbow/PNI.

Figure P5.35
a. HelpMate robot
used for in-hospital
deliveries;
b. simplified block
diagram for bearing
angle control

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.36
a. Load tester
(© 1992 IEEE);
b. approximate
block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.37
Solenoid coil circuit

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.38
a. Position control:
motor and load;
b. block
diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.39
a. Position control;
b. position control
with tachometer

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.40
Position control

Control Systems Engineering, Fourth Edition by Norman S. Nise

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Figure P5.41
a. Motor and load;
b. Motor and load in
feedback system

Control Systems Engineering, Fourth Edition by Norman S. Nise

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