Signal Flow Graphs

Engr. Ojay DL. Santos

References:
[1] Nise, N. (2011). Control Systems Engineering, 6th
edition
[2] Ogata, K. (2003). Modern Control Engineering,
4th edition
[3] Singh, Y. & Janardhanan, S. (2011). Modern
Control Engineering, 1st edition
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 Introduction
 For complicated systems, the block diagram
reduction process is tedious and time consuming.
 An alternate approach is that of signal flow
graphs developed by Samuel J. Mason in 1953.
 A signal flow graph (SFG) is a graphical
representation of the relationships between the
variables of a set of linear algebraic equations.

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 Introduction
 The variables in the algebraic equation are represented
by nodes and a graph is formed by connecting the nodes
with directed branches in such a way as to satisfy the
algebraic equations.
 The signal can flow only in the direction of the arrow of
the branch and it is multiplied by a factor indicated
along the branch, which happens to be the coefficient of
the algebraic equation.
 The variable at the arrow head is the dependent variable.

y  ax a y
x
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 Example #1
Construct the signal flow graph for the set of
simultaneous equations.
x1  ax0  bx1  cx2 Solution:
x2  dx1  ex3
f
x3  fx0  gx2 c
x0 x1 x2 g x3 x4
x4  hx3
a d h

xo is input and x4 is output b e

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 Example #2
Convert the block diagram to a signal flow graph.

Solution: Step 1. Draw the signal nodes. Assume

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 Example #2 Solution

Step 2. Interconnect the nodes, showing the direction

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 Example #2 Solution

Step 3. Simplify the signal flow graph.

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 Definitions
 Node – is a point representing a variable or signal.
 Branch – is a directed line segment between two
nodes.
 Transmittance – is a real gain or complex gain
between two nodes. (e.g. t1, t2, t3, t4, t5, -t6 , -t7, -t8, t9)

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 Definitions
 Input node or source – is a node that has only
outgoing branches. This corresponds to an
independent variable. (e.g. node r)
 Output node or sink – is a node that has only
incoming branches. This corresponds to a dependent
variable. (e.g. node c)

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 Definitions
 Mixed node – is a node that has both incoming and
outgoing branches. (e.g. x1, x2, x3, x4, x5, x6)
 Path – is a traversal of connected branches in the
direction of branch arrows such that no node is
traversed more than once. (e.g. path: r-x1-x2-x3-x4-
x5-x6-c)

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 Definitions
 Forward path – is a path from an input node (source) to
an output node (sink) that does not cross any nodes more
than once. (e.g. path 1: r-x1-x2-x3-x4-x5-x6-c)
 Forward path gain – is the product of gains or
transmittances of all branches of a forward path. (e.g. for
path 1: P1 = t1t2t3t4t5)

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 Definitions
 Loop – is a closed path. (e.g. loop: x2-x3-x4-x2)
 Loop gain – is the product of gains or transmittances
of all branches of a loop. (e.g. L1 = -t2t3t6)

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 Definitions
 Nontouching loops. Two or more loops are nontouching
loops if they don’t have any common nodes between
them. (e.g. loop x2-x3-x4-x2 and loop x5-x6-x5)
 Nontouching loop gain. The product of loop gains from
nontouching loops taken two, three, four, or more at a
time. [e.g. (–t2t3t6) * (– t5t7) = t2t3t6t5t7]

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 Example #3
For the signal flow graph, determine:
(a) the forward path gains; (b) the loop gains;
(c) the nontouching loop gains.

Solution:
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Example #3 Solution
• There are two forward path gains;
 Example #3 Solution

• There are four loops

• There are four loops

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 Mason’s Gain Formula
• The transfer function, T(s), of a system represented by a
n

P 
signal-flow graph is:
k k
C (s)
T (s)   k 1
where R( s) 
n = number of forward paths.
Pk = the k th forward path gain.
Δ = 1 – Σ all individual loop gains + Σ nontouching loop
gains taken two at a time – Σ nontouching loop gains
taken three at a time + Σ nontouching loop gains taken
four at a time …
Δk = the value of Δ computed by removing the loops that
touch the kth forward path 19
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 Example #4
 Find the transfer function, C(s)/R(s), for the signal
flow graph.

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 Example #5
 Find the transfer function, C(s)/R(s), for the signal
flow graph.

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Example #6

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 Example #7
 Find the transfer function, C(s)/R(s), for the signal
flow graph.

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 Example #7
 Use Mason’s gain formula to find the transfer
function of the block diagram.

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 Example #8
 Use Mason’s gain formula to find the transfer
function of the block diagram.

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 Example #9
 Use Mason’s gain formula to find the transfer
function of the block diagram.

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 Seatwork
 Use Mason’s gain formula to find the transfer
function of the block diagram.

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