Hi Guys I am trying to evaluate the following transfer function below can anyone verify if this is correct
$$e_i = -d_{r,i} + d_i $$ $$d_i = q_{i-1}-q_i$$ $$d_{r,i} =H_iq_i$$ $$Therefore, e_i = -Hiq_i + q_{i-1} - q_i$$ $$q_i = e_iPDG_i$$ $$q_i = PDG_i(-H_iq_i+q_{i-1}-q_i)$$ $$q_i = -PDG_iH_iq_i+PDG_iq_{i-1}-PDG_iq_i$$ $$\frac{q_i}{q_{i-1}} = \frac{PDG}{1+HPDG+PDG}$$
Im thinking this is incorrect but I'm hoping someone can verify this for me?