Control Theory
Instructor: [Link] Omer
eiman.omer87@[Link]
Lecture (2)
There are two types of feedback −
Positive feedback
Negative feedback
Positive Feedback
The positive feedback adds the reference input,
R(s)R(s) and feedback output. The following
figure shows the block diagram of positive
feedback control system
The concept of transfer function will be
discussed in later lectures. For the time being,
consider the transfer function of positive
feedback control system is,
Where,
T is the transfer function or overall gain of
positive feedback control system.
G is the open loop gain, which is function of
frequency.
H is the gain of feedback path, which is
function of frequency.
Negative feedback reduces the error between the
reference input, R(s)R(s) and system output.
The following figure shows the block diagram
of the negative feedback control system.
Transfer function of negative feedback control
system is,
Where,
T is the transfer function or overall gain of
negative feedback control system.
G is the open loop gain, which is function of
frequency.
H is the gain of feedback path, which is
function of frequency.
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 Diagram
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.
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).
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.
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 [Link] 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 C(s), as one of the
inputs to the summing point.
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.
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).
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.
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)G1(s)
and G2(s)G2(s) are connected in series.
The blocks which are connected in parallel will
have the same input. In the following figure,
two blocks having transfer functions
G1(s)G1(s) and G2(s)G2(s) are connected in
parallel. The outputs of these two blocks are
connected to the summing point.
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)G(s) and H(s)H(s) form a closed loop.
Therefore, the negative feedback closed loop
transfer function is :