Control Systems

ECE-4217

Fariya Tabassum
Assistant Professor, Dept. of Electrical & Computer Engineering
Rajshahi University of Engineering & Technology, Rajshahi-6204 1
“Allah does not burden a soul
beyond that it can bear”.
[Sura Baqarah]

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 Signal Flow Graph
A signal flow graph is a diagram which represents a set of simultaneous equations.

A signal-flow graph consists only of branches, which represent systems, and nodes, which
represent signals

A system is represented by a
line with an arrow showing the A signal is a node with the signal’s
direction of signal flow through name written adjacent to the node.
the system. Adjacent to the line
the transfer function is written

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 Signal Flow Graph

𝐶2 𝑠 = 𝑉 𝑠 𝐺5 𝑠 = 𝑅1 𝑠 𝐺1 𝑠 𝐺5 𝑠 − 𝑅2 𝑠 𝐺2 𝑠 𝐺5 𝑠 + 𝑅3 (𝑠)𝐺3 (𝑠)𝐺5 𝑠

𝐶3 𝑠 = −𝑉 𝑠 𝐺6 𝑠 = −𝑅1 𝑠 𝐺1 𝑠 𝐺6 𝑠 + 𝑅2 𝑠 𝐺2 𝑠 𝐺6 𝑠 − 𝑅3 (𝑠)𝐺3 (𝑠)𝐺6 𝑠

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 Signal Flow Graph

SFG from block diagram

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Signal Flow Graph

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 Signal Flow Graph

Practice some related example of the book written by

“S. Hasan & K. Ogata”

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 TF from Signal Flow Graph

Mason’s Rule/ formula: for reducing a signal-flow graph to a single transfer function

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 the signal flow, without
passing through any other node more
than once. The four loop gains are:

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 TF from Signal Flow Graph

Nontouching loops:
Loops that do not have any
nodes in common. In the Figure,
loop 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

Nontouching loop gain:

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 TF from Signal Flow Graph

Mason’s Rule/ formula:

The transfer function, C(s)/R(s) of a system represented by a signal-flow graph is

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 TF from Signal Flow Graph

Find the transfer function, C(s)/R(s), for

the signal-flow graph in Figure

Step-1:
Have to identify the forward-path gains. In this example
there is only one and that is:

Step-2:
Have to identify the loop gains. There are four, as follows:

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 TF from Signal Flow Graph

Step-3:
Have to identify nontouching loops taken two at a time.
we can see that loop 1 does not touch loop 2, loop 1
does not touch loop 3, and loop 2 does not touch loop 3.
Notice that loops 1, 2, and 3 all touch loop 4.
Thus, the combinations of nontouching loops taken two
at a time are as follows:

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 TF from Signal Flow Graph

Step-4:
the nontouching loops taken three at a time are as
follows:

Now,

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 TF from Signal Flow Graph

Now, ∆𝑘 is formed by eliminating from ∆ the loop gains

that touch the kth forward path.

So,

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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 TF from Signal Flow Graph

Practice some related example of the book written by

“S. Hasan & K. Ogata”

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 Signal Flow Graph

SFG from equation

𝑦2 = 𝑡21 𝑦1 + 𝑡23 𝑦3
𝑦3 = 𝑡32 𝑦2 + 𝑡33 𝑦3 + 𝑡31 𝑦1
𝑦4 = 𝑡43 𝑦3 + 𝑡42 𝑦2
𝑦5 = 𝑡54 𝑦4
𝑦6 = 𝑡65 𝑦5 + 𝑡64 𝑦4
Where 𝑦1 is the input and 𝑦6 is the output

Solution:

In the given examples there are 6 nodes. From the 1st equation it is clear that the 𝑦2 is the sum
of two signals. Similarly, 𝑦3 is the sum of three signals and so on.

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 Signal Flow Graph
𝑦2 = 𝑡21 𝑦1 + 𝑡23 𝑦3
𝑦3 = 𝑡32 𝑦2 + 𝑡33 𝑦3 + 𝑡31 𝑦1
Solution cont’d:
𝑦4 = 𝑡43 𝑦3 + 𝑡42 𝑦2
Step-1:
After drawing the nodes have to draw SFG for equation 1 𝑦5 = 𝑡54 𝑦4
𝑦6 = 𝑡65 𝑦5 + 𝑡64 𝑦4

Step-2:
have to draw SFG for equation 2

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 Signal Flow Graph
𝑦2 = 𝑡21 𝑦1 + 𝑡23 𝑦3
Solution cont’d:
Step-3: 𝑦3 = 𝑡32 𝑦2 + 𝑡33 𝑦3 + 𝑡31 𝑦1
have to draw SFG for equation 3
𝑦4 = 𝑡43 𝑦3 + 𝑡42 𝑦2
𝑦5 = 𝑡54 𝑦4
𝑦6 = 𝑡65 𝑦5 + 𝑡64 𝑦4
Step-4:
have to draw SFG for equation 4

Step-5:
have to draw SFG for equation 5

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 Signal Flow Graph
𝑦2 = 𝑡21 𝑦1 + 𝑡23 𝑦3
Solution cont’d:
Step-3: 𝑦3 = 𝑡32 𝑦2 + 𝑡33 𝑦3 + 𝑡31 𝑦1
have to draw final SFG with the help of above graphs
𝑦4 = 𝑡43 𝑦3 + 𝑡42 𝑦2
𝑦5 = 𝑡54 𝑦4
𝑦6 = 𝑡65 𝑦5 + 𝑡64 𝑦4

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 Signal Flow Graph

Practice some related example of the book written by

“S. Hasan & K. Ogata”

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 Signal Flow Graph

SFG from differential equation

Where 𝑟 is the input and 𝑦 is the output

Solution:
First, have to identify three nodes to be the three state variables, 𝑥1 , 𝑥2 , and 𝑥3 ; also identify
three nodes, placed to the left of each respective state variable, to be the derivatives of the
state variables. Also have identify a node as the input, r, and another node as the output, y

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 Signal Flow Graph

Solution cont’d:
Next interconnect the state variables and their derivatives with the defining
integration, 1/s

Then using given Equation, have to feed to each node the indicated signals. For the 1st equation

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 Signal Flow Graph

Solution cont’d:

For the 1st and 2nd equation

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 Signal Flow Graph

Solution cont’d: For the 1st , 2nd and 3rd equation

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 Signal Flow Graph

Solution cont’d: Considering all the equations

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 Signal Flow Graph

Practice some related example of the book written by

“S. Hasan & K. Ogata”

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