COEG-304: Instrumentation and Control

Chapter 3: System Reduction Technique

Anil Lamichhane (Lecturer)
[Link]@[Link]
Course content
1 Introduction

2 Mathematical Modeling

3 System Reduction Technique

4 Transient and Steady-State-Response Analysis

5 Stability Analysis

6 Introduction to Process Control

7 Sensors

8 Analog Signal Conditioning

9 Digital Signal Conditioning

10 Final Control

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Chapter 3: Content

3 System Reduction Technique

3.1 Block diagram representation

3.2 Rules of block diagram reduction

3.3 Block diagram reduction examples

3.4 Definition of signal flow graph

3.5 Rules for reduction of signal flow graph

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation

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3.1 Block diagram representation
G4
R(s) Y (s) How to represent such a
G1 G2 G3 complex block
diagram with single
transfer function?
H2
H1

R (s ) Y (s )
G

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3.1 Block diagram representation
• We have been working with individual subsystems represented by a block with its
input and output.
• More complicated systems, however, are represented by the interconnection of
many subsystems.
• Since the response of a single transfer function can be calculated, we want to
represent multiple subsystems as a single transfer function.
• We can then apply analytical techniques and obtain transient response information
about the entire system.
• In this chapter, multiple subsystems are represented in two ways:
• Block diagrams
• Signal-flow graphs

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3.1 Block diagram representation
• As we already know, a subsystem is represented as a block with an input, an
output, and a transfer function.

input
G (s) output

• However, in real cases, many system are composed of multiple subsystems.

• When multiple subsystems are interconnected, a few more schematic elements
must be added to the block diagram.
• These new elements are:
• Summing junction
• Pickoff points

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Chapter 3: Content

3 System Reduction Technique

3.1 Block diagram representation

3.2 Rules of block diagram reduction

3.3 Block diagram reduction examples

3.4 Definition of signal flow graph

3.5 Rules for reduction of signal flow graph

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3.2 Rules of block diagram representation

• Components of block diagram for a linear, time-invariant system is shown in

figure below.

• Next, we will examine some common topologies for interconnecting subsystems

and derive single transfer function representation for each of them.

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3.2 Rules of block diagram representation

1) Cascade form

2) Parallel form

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 3.2 Rules of block diagram representation

3) Feedback form

C ( s ) = E ( s )G ( s )
E ( s ) = R ( s ) − H ( s )C ( s )

Now, plug the second equation into the first, eliminates E(s)
C ( s ) = G ( s )[ R ( s ) − H ( s )C ( s )]
C ( s ) + G ( s ) H ( s )C ( s ) = G ( s ) R ( s )
C ( s )[1 + G ( s ) H ( s )] = G ( s ) R( s )
C (s) G (s)
=
R( s) 1 + G ( s) H ( s)
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3.2 Rules of block diagram representation

• Before we begin to reduce block diagrams, it must be explained that the familiar
forms (cascade, parallel, and feedback) are not always present in a block diagram.
• For example, in the feedback form, if there is a pickoff point after the summing
junction, you cannot use the feedback formula to reduce the feedback system to a
single block. That signal disappears, and there is no place to reestablish the pickoff
point.

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3.2 Rules of block diagram representation

Figure: Equivalent forms for moving a block Figure: Equivalent forms for moving a block
a. to the left past a summing junction b. to the right past a summing junction

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3.2 Rules of block diagram representation

Figure: Equivalent forms for moving a Figure: Equivalent forms for moving a
block a. to the left past a pickoff points block a. to the right past a pickoff points.

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Chapter 3: Content

3 System Reduction Technique

3.1 Block diagram representation

3.2 Rules of block diagram reduction

3.3 Block diagram reduction examples

3.4 Definition of signal flow graph

3.5 Rules for reduction of signal flow graph

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3.3 Block diagram reduction Example 1
• Example 1: Reduce the block diagram of a figure shown into a single transfer
function model.

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3.3 Block diagram reduction Example 1
Solution
• Step1: Three summing junction can be collapsed into single summing junction.

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3.3 Block diagram reduction Example 1
Solution
• Step2: Recognize that the three feedback functions, H1(s), H2(s), and H3(s), are
connected in parallel. So, The equivalent function is H1(s)- H2(s)+ H3(s). Also,
recognize that G2(s) and G3(s) are connected in cascade. Thus, the equivalent
transfer function is G3(s)G2(s).

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3.3 Block diagram reduction Example 1
Solution
• Step3: Finally, feedback system is reduced and multiplied by G1(s) to yield the
equivalent transfer function.

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3.3 Block diagram reduction Example 2
• Example 2: Reduce the block diagram of a figure shown into a single transfer
function model.

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3.3 Block diagram reduction Example 2
Solution
• Step1: Move G2(s) to the left past the pickoff point to create parallel subsystems,
and reduce the feedback system consisting of G3(s) and H3(s).

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3.3 Block diagram reduction Example 2
Solution
• Step2: Reduce the parallel pair consisting of 1/G2(s) and unity, and push G1(s) to
the right past the summing junction, creating parallel subsystems in the feedback.

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3.3 Block diagram reduction Example 2
Solution
• Step 3: Collapse the summing junctions, and the two feedback elements together,
and combine the last two cascade blocks

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3.3 Block diagram reduction Example 2
Solution
• Step 4: Use the feedback formula.

• Step 5: Finally, multiply the two cascaded block and obtain the results

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3.3 Block diagram reduction Example 3
• Assignment Problem: Reduce the block diagram of a figure shown into a single
transfer function model.

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

H2

H1

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Chapter 3: Content

3 System Reduction Technique

3.1 Block diagram representation

3.2 Rules of block diagram reduction

3.3 Block diagram reduction examples

3.4 Definition of signal flow graph

3.5 Rules for reduction of signal flow graph

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3.4 Definition of Signal Flow Graph
• Signal flow graph are alternative to the
block diagrams.
• A signal flow graph consists of branches,
which represent systems, and nodes, which
represent signals.
• A system is represented by a line with an
arrow showing the direction of signal flow
through the system.
• Adjacent to line we write transfer function.
• A signal is a node with signal’s name
written adjacent to the node. Signal-flow graph components:
a. system; b. signal; c. interconnection of systems and signals
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3.4 Definition of Signal Flow Graph
• Each signal is the sum of signals flowing into it.
V ( s ) = R1 ( s )G1 ( s ) − R2 ( s )G2 ( s ) + R3 ( s )G3 ( s )
C1 ( s ) = V ( s )G4 ( s )
C2 ( s ) = V ( s )G5 ( s )
C3 ( s ) = −V ( s )G6 ( s )
• Notice that, in summing negative signals we associate the negative sign with the
system and not with a summing junction, as in the case of block diagrams.

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3.4.1 Block diagram to signal flow graph

1) Cascaded system

• First, we start by drawing the signal nodes for that system

• Next, we interconnect the signal nodes with system branches.

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3.4.1 Block diagram to signal flow graph

2) Parallel system • First, we start by drawing the signal nodes for

that system

• Next, we interconnect the signal nodes with

system branches.

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3.4.1 Block diagram to signal flow graph

3) Feedback system • First, we start by drawing the signal nodes for

that system

• Next, we interconnect the signal nodes with

system branches.

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3.4.1 Block diagram to signal flow graph
Example
Example: Convert the block diagram to signal-flow graph

• First, begin by drawing signal nodes

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3.4.1 Block diagram to signal flow graph
Example

• Next, interconnect the nodes, showing the direction of signals and identifying each
transfer function.

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3.4.1 Block diagram to signal flow graph
Example

• Finally, if desired, simplify the signal-flow graph to the one shown below by
eliminating signals that have a signal flow in and signal flow out.

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Chapter 3: Content

3 System Reduction Technique

3.1 Block diagram representation

3.2 Rules of block diagram reduction

3.3 Block diagram reduction examples

3.4 Definition of signal flow graph

3.5 Rules for reduction of signal flow graph

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3.5 Rules for reduction of signal flow graph

• Earlier we discussed how to convert block diagrams into signal flow

graph.
• Now, we should learn techniques for reducing signal flow graph to
single transfer functions that relate the output of the system to its
input.
• We will use Mason’s formula for such reduction. But before that we
should be familiar with some of the terms that we will use later while
using Mason’s formula.

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3.5 Rules for reduction of signal flow graph
(Mason’s Rule)
• Definitions
i. 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 signal flow,
without passing through any other node more than once. For example, given
signal flow graph has 4 loop gains, which are:
1. G2(s)H1(s)
2. G4(s)H2(s)
3. G4(s)G5(s)H3(s)
4. G4(s)G6(s)H3(s)

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3.5 Rules for reduction of signal flow graph
(Mason’s Rule)
• Definitions
ii. Forward path gain: The product of gain found by traversing a path from the
input node to the output node of the signal-flow graph in the direction of
signal flow. For example, given signal-flow graph have two forward path
gains:
1. G1(s)G2(s)G3(s)G4(s)G5(s)G7(s)
2. G1(s)G2(s)G3(s)G4(s)G6(s)G7(s)

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3.5 Rules for reduction of signal flow graph
(Mason’s Rule)
• Definitions
iii. Non touching loops: Loops that do not have any nodes in common. For
example:
1. G2(s)H1(s) does not touch loops G4(s)H2(s), G4(s)G5(s)H3(s), and G4(s)G6(s)H3(s)

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3.5 Rules for reduction of signal flow graph
(Mason’s Rule)
• Definitions
iv. Non touching loop gain: the product of loop gains from non touching loops
taken two, three, four, or more at a time. For example, in the above figure,
the product of loop gain G2(s)H1(s) and loop gain G4(s)H2(s) is a non
touching loop gain taken two at a time. In summary, all three of the non
touching-loop gains taken two at a time are:
1. [G2(s)H1(s)][G4(s)H2(s)]
2. [G2(s)H1(s)][G4(s)G5(s)H3(s)]
3. [G2(s)H1(s)][G4(s)G6(s)H3(s)]

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3.5 Rules for reduction of signal flow graph
(Mason’s Rule)
• Now, we are ready to state Mason’s rule:
• The transfer function, C(s)/R(s), of a system represented by a signal-flow graph is:

• Where,
k = number of forward paths
Tk = the kth forward-path gain
 = 1-∑loop gains+∑non touching loop gains taken two at a time-∑non touching loop
gains taken three at a time+∑non-touching loop gains taken four at a time-………….
 k = - ∑loop gains terms in  that touch the kth forward path. In other words,  is
k
formed by eliminating from  those loop gains that touch the kth forward path.

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3.5.1 Mason’s Rule Example 1

• Find the transfer function, C(s)/R(s), for the signal-flow graph shown
in figure below:

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3.5.1 Mason’s Rule Example 1
• Solution:
• First, identify the forward-path gains.
G1(s)G2(s)G3(s)G4(s)G5(s)
• Second, the loop gains.
G2(s)H1(s)
G4(s)H2(s)
G7(s)H4(s)
G2(s)G3(s)G4(s)G5(s)G6(s)G7(s)G8(s)

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3.5.1 Mason’s Rule Example 1
• Solution:
• Third, identify the non-touching loops taken two at a time. We can see from the
figure above that loop 1 does not touches loop 2 and loop 3; similarly, loop 2 does
not touches loop 3. Notice that loop 1, 2, and 3 all touch loop 4. Therefore,
combination of non touching loops taken two at a time are as follows:
loop 1 and loop 2: G2(s)H1(s)G4(s)H2(s)
loop 1 and loop 3: G2(s)H1(s)G7(s)H4(s)
loop 2 and loop 3: G4(s)H2(s)G7(s)H4(s)

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3.5.1 Mason’s Rule Example 1
• Solution:
• Fourth, the non-touching loops taken three at a time are: 1, 2, and 3
G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)
• Fifth, calculate ∆
 = 1 − [G2 ( s ) H1 ( s ) + G4 ( s ) H 2 ( s ) + G7 ( s ) H 4 ( s ) + G2 ( s )G3 ( s)G4 ( s)G5 ( s)G6 ( s)G7 ( s)G8 ( s)]
+[G2 ( s ) H1 ( s )G4 ( s ) H 2 ( s ) + G2 ( s ) H1 ( s )G7 ( s) H 4 ( s) + G4 ( s) H 2 ( s)G7 ( s) H 4 ( s)]
−[G2 ( s ) H1 ( s )G4 ( s ) H 2 ( s )G7 ( s) H 4 ( s)]

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3.5.1 Mason’s Rule Example 1
• Solution:
• Fourth, the non-touching loops taken three at a time are: 1, 2, and 3
G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)
• Fifth, calculate ∆
 = 1 − [G2 ( s ) H1 ( s ) + G4 ( s ) H 2 ( s ) + G7 ( s ) H 4 ( s ) + G2 ( s )G3 ( s)G4 ( s)G5 ( s)G6 ( s)G7 ( s)G8 ( s)]
+[G2 ( s ) H1 ( s )G4 ( s ) H 2 ( s ) + G2 ( s ) H1 ( s )G7 ( s) H 4 ( s) + G4 ( s) H 2 ( s)G7 ( s) H 4 ( s)]
−[G2 ( s ) H1 ( s )G4 ( s ) H 2 ( s )G7 ( s) H 4 ( s)]
• We form  k by eliminating from ∆ the loop gains that touch the kth forward path
1 = 1 − G7 ( s ) H 4 ( s )

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3.5.1 Mason’s Rule Example 1
• Solution:
• Now, apply mason’s formula
T11 G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s ) 1 − G7 ( s ) H 4 ( s ) 
G (s) = =
 

• Since there is only one forward path, G(s) consists of only one term,
rather than a sum of terms, each coming from a forward path.

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 Thank You ! Anil Lamichhane
Kathmandu University
[Link]@[Link]

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