1|Page

Topic 9: Block Diagrams

ME 3221

Book Coverage: 5.1 5.2

HW: Problems: 5.4, 5.7, and 5.10
Read: 5.1 5.2
Transfer Functions and Block Diagram Reduction
Block diagrams are a convenient way to represent a subsystem in terms of its input and output signals.

An LTI subsystem represented by a block diagram is described mathematically by its transfer function.

Often to determine the overall transfer function (relationship between input and output) of complex
systems requires eliminating intermediate variables of the subsystems that comprise the overall system.
o One way of doing this is dealing with a large system of equations relating the input variables,
intermediate variables, and output variables.
o A graphical technique utilizes block diagrams and reduces the complexity of the overall block
diagram representing the system through block diagram algebra.
o Another graphical/algebraic technique utilizes signal flow graphs (SFGs), but the SFG
techniques will be discussed in subsequent lectures.

Block Diagram Elements:

o Signals (usually represented with arrows and in the Laplace domain)
o Subsystems (TFs modeled as boxes)
o Summing Junction

1 () +

()

2 ()

()

()

() = 1 2 3
()

_
o Pickoff Points

()

3 ()
() ()

()
Nonloading cascaded systems
o A nonloading cascaded system (or just cascaded system) is a sequence of daisy-chained
elements where each elements output acts as input to the subsequent element in the chain, as
shown below:

o It is referred to as nonloading because it is assumed that each element does not load its
predecessor in the chain (i.e., the output of one element remains the same for a given input
regardless of whether the next element in the chain is connected or not). For electrical systems,
this holds if the input impedance of each subsystem is infinite so that it does not load the
previous subsystem.
This can be achieved by using buffer elements between subsystems.
o If the nonloading assumption holds, then the overall transfer function is simply the product of the
individual transfer functions. For the figure above,
5 ()
= 1 ()2 ()3 ()4 ()
1 ()

2|Page

Topic 9: Block Diagrams

ME 3221

Parallel Form
o The parallel combination of the subsystems shown below can be replaced by the single transfer
function
+ () + ()
() = 1 () +
2
3

Negative Feedback Form

o The simplest negative feedback form is given below:

o To obtain the overall TF, use the two intermediate equations

() = () ()()
and
() = ()()
o Since () is the intermediate variable, substitute the first equation into the second equation:
() = ()[() ()()]
= ()() ()()()
or
() + ()()() = ()()
()[1 + ()()] = ()()
so that

()
0 ()
=
() 1 + ()()

o The boxed equation is known as Blacks Law, named after legendary electrical engineer Harold
Black, who revolutionized applied electronics with the negative feedback electronic amplifier.
o The denominator of Blacks Law plays an important role in analyzing the stability of the closedloop system. In particular, the roots of the characteristic equation determine stability, where the
characteristic equation is given by
1 + ()() = 0
o () is called the direct transmission (or forward) transfer function
o () is called the feedback transfer function
o Whenever () = 1, then () represents the error () (), the difference between the
control output and the reference input.

3|Page

Topic 9: Block Diagrams

ME 3221

Practical feedback systems typically have multiple feedback loops and several inputs

All multiple-loop systems can be reduced to the basic form above by means of step-by-step block
diagram reduction.

Multiple inputs are present for nearly all realistic control systems because disturbances act as
undesirable inputs.
o Through the use of block diagram reduction techniques, the effect of any input on the output
(including disturbances) can be determined.

Block Diagram Transformations

Moving Summing Junctions
1 () +

()

()

1 ()

()

()

2 ()

()
2 ()

After a block
1 ()

()

1 () +

()

()

+
2 ()

()

1
()

2 ()
Before a block

Moving Pickoff Points

1 ()

()

1 ()

()

()

()

1 ()

1
()

After a block
1 ()

()

1 ()

()

()

()
()
Before a block

()

()

1 ()

4|Page

Topic 9: Block Diagrams

Separating a Summing Junction

2 ()

_
1 () +

_
1 () +

() = 1 2 3

_
3 ()

2 ()
() = 1 2 3

_
3 ()

Collapsing a Summing Junction

_ 2 ()
1 () +
+

ME 3221

+
3 ()

() = 1 2 + 3

1 () +
+

2 ()
() = 1 2 + 3
3 ()

Example 9-1: Use block diagram transformations to reduce the complex block diagram below to a
single TF.

5|Page

Topic 9: Block Diagrams

ME 3221

6|Page

Topic 9: Block Diagrams

ME 3221

Answer:
()
6 5 2 + 6 5 3 + 6 3 + 6 4
=
() 1 + 6 + 1 2 + 1 3 + 1 2 6 + 1 3 6 + 7 6 5 2 + 7 6 5 3 + 7 6 3 + 7 6 4

Example 9-2: Model the transfer function of the (input) armature voltage to the output speed of an
armature-controlled brushed DC motor as a feedback control system using block diagrams and showing
each signal. Derive the transfer function from the block diagram.

7|Page

Topic 9: Block Diagrams

ME 3221

Example 9-3: Model a noninverting operational amplifier as a feedback control system using block
diagrams showing each signal. Derive the transfer function from the block diagram.
()
1 ()

2
() +_

_
+

+
()
_