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Feedback Control Systems (FCS)
Signal Flow Graphs
Outline
• Introduction to Signal Flow Graphs
– Definitions
– Terminologies
– Examples
• Mason’s Gain Formula
– Examples
• Signal Flow Graph from Block Diagrams
• Design Examples
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Introduction
• Alternative method to block diagram representation,
developed by Samuel Jefferson Mason.
• Advantage: the availability of a flow graph gain formula,
also called Mason’s gain formula.
• A signal-flow graph consists of a network in which nodes
are connected by directed branches.
• It depicts the flow of signals from one point of a system
to another and gives the relationships among the signals.
Fundamentals of Signal Flow Graphs
• Consider a simple equation below and draw its signal flow graph:
y ax
• The signal flow graph of the equation is shown below;
a y
x
• Every variable in a signal flow graph is designed by a Node.
• Every transmission function in a signal flow graph is designed by a
Branch.
• Branches are always unidirectional.
• The arrow in the branch denotes the direction of the signal flow.
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Signal-Flow Graph Models
Y1( s ) G11( s ) R1( s ) G12( s ) R2( s )
Y2( s ) G21( s ) R1( s ) G22( s ) R2( s )
Signal-Flow Graph Models
r1 and r2 are inputs and x1 and x2 are outputs
a11 x1 a12 x2 r1 x1
a21 x1 a22 x2 r2 x2
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Signal-Flow Graph Models
xo is input and x4 is output
x1 ax0 bx1 cx2 f
c
x2 dx1 ex3 x0 x1 x2 g x3 x4
a d h
x3 fx0 gx2
x4 hx 3 b e
Construct the signal flow graph for the following set of
simultaneous equations.
• There are four variables in the equations (i.e., x1,x2,x3,and x4) therefore four nodes are
required to construct the signal flow graph.
• Arrange these four nodes from left to right and connect them with the associated
branches.
• Another way to arrange this
graph is shown in the figure.
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Terminologies
• An input node or source contain only the outgoing branches. i.e., X1
• An output node or sink contain only the incoming branches. i.e., X4
• A path is a continuous, unidirectional succession of branches along which no
node is passed more than ones. i.e.,
X1 to X2 to X3 to X4 X1 to X2 to X4 X2 to X3 to X4
• A forward path is a path from the input node to the output node. i.e.,
X1 to X2 to X3 to X4 , and X1 to X2 to X4 , are forward paths.
• A feedback path or feedback loop is a path which originates and terminates on
the same node. i.e.; X2 to X3 and back to X2 is a feedback path.
Terminologies
• A self-loop is a feedback loop consisting of a single branch. i.e.; A33 is a self
loop.
• The gain of a branch is the transmission function of that branch.
• The path gain is the product of branch gains encountered in traversing a path.
i.e. the gain of forwards path X1 to X2 to X3 to X4 is A21A32A43
• The loop gain is the product of the branch gains of the loop. i.e., the loop gain
of the feedback loop from X2 to X3 and back to X2 is A32A23.
• Two loops, paths, or loop and a path are said to be non-touching if they have
no nodes in common.
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Consider the signal flow graph below and identify the following
a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths (loops).
e) Determine the loop gains of the feedback loops.
f) Determine the path gains of the forward paths.
g) Non-touching loops
Consider the signal flow graph below and identify the following
• There are two forward path gains;
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Consider the signal flow graph below and identify the following
• There are four loops
Consider the signal flow graph below and identify the following
• Nontouching loop gains;
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Consider the signal flow graph below and identify the
following
a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths.
e) Self loop.
f) Determine the loop gains of the feedback loops.
g) Determine the path gains of the forward paths.
Input and output Nodes
a) Input node
b) Output node
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(c) Forward Paths
(d) Feedback Paths or Loops
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(d) Feedback Paths or Loops
(d) Feedback Paths or Loops
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(d) Feedback Paths or Loops
(e) Self Loop(s)
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(f) Loop Gains of the Feedback Loops
(g) Path Gains of the Forward Paths
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