RUET

EEE 3105

Control Systems Engineering

EEE 3105

Prof. Dr. Md. Faruk Hossain

JSPS (JP), PhD (JP), M.Engr. (JP) M.Sc. Engr. (RUET)
Director (Research & Extension)
Department of Electrical & Electronic Engineering
Rajshahi University of Engineering & Technology
Rajshahi-6204, Bangladesh
Email: [email protected]
Cell: +8801778400600
Website: https://www.eee.ruet.ac.bd/Prof.Dr.Md.FarukHossain
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Signal Flow Graph (SFG) EEE 3105

A SFG may be defined as a graphical means of

portraying the input output relationships
between the variables of a set of linear algebraic
equations.

Properties:
i. The system must be linear.
ii. The equations must be algebraic equations in the
form cause and effect.
iii. Nodes are used to represent variables.
iv. Signal travel along branches only in the direction
described by means of arrows.

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Block Diagram to SFG EEE 3105

Figure 3-16 (p. 57) BC KUO

(a) Block diagram of a control system.
(b) Equivalent signal-flow graph. 3
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Terminologies EEE 3105

 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
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Terminologies EEE 3105

• 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.
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Terminologies EEE 3105

• 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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Signal Flow Graph (SFG) EEE 3105

 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 path gains of the forward paths.
f) Determine the loop gains of the feedback loops.
g) Non-touching loops
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Signal Flow Graph (SFG) EEE 3105

• There are two forward path gains;

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Signal Flow Graph (SFG) EEE 3105

• There are four loops

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Signal Flow Graph (SFG) EEE 3105

• Nontouching loop gains:

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Mason’s Rule (Mason, 1953) EEE 3105

• The block diagram reduction technique requires

successive application of fundamental relationships in
order to arrive at the system transfer function.

• On the other hand, Mason’s rule for reducing a

signal-flow graph to a single transfer function
requires the application of one formula.

• The formula was derived by S. J. Mason when he

related the signal-flow graph to the simultaneous
equations that can be written from the graph.
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Mason’s Rule (Mason, 1953) EEE 3105

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

graph is;
n
 Pi  i
C( s ) i 1

R( s ) 
where

n = number of forward paths.

Pi = the i th forward-path gain.
∆ = Determinant of the system
∆i = Determinant of the ith forward path

• ∆ is called the signal flow graph determinant or characteristic function.

Since ∆=0 is the system characteristic equation.
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Mason’s Rule (Mason, 1953) EEE 3105

n
 Pi  i
C( s ) i 1

R( s ) 

∆ = 1- (sum of all individual loop gains) + (sum of the products of the gains of
all possible two loops that do not touch each other) – (sum of the products of the
gains of all possible three loops that do not touch each other) + … and so forth
with sums of higher number of non-touching loop gains

∆i = value of Δ for the part of the block diagram that does not touch the i-th
forward path (Δi = 1 if there are no non-touching loops to the i-th path.)
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Systematic Approach EEE 3105

1. Calculate forward path gain Pi for each forward

path i.
2. Calculate all loop transfer functions
3. Consider non-touching loops 2 at a time
4. Consider non-touching loops 3 at a time
5. etc
6. Calculate Δ from steps 2,3,4 and 5
7. Calculate Δi as portion of Δ not touching forward
path i

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Example # 01 EEE 3105

 Apply Mason’s Rule to calculate the transfer function of the

system represented by following Signal Flow Graph
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Example # 01 EEE 3105

n
 Pi  i
C( s ) i 1

R( s ) 
C P11  P2  2

Therefore,
R 
There are three feedback loops

L1  G1G4 H 1 , L2  G1G2 G4 H 2 , L3  G1G3G4 H 2

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Example # 01 EEE 3105

There are three feedback loops

L1  G1G4 H1 , L2  G1G2G4 H 2 , L3  G1G3G4 H 2

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Example EEE 3105

There are no non-touching loops, therefore

∆ = 1- (sum of all individual loop gains)

  1  L1  L2  L3 

  1  G1G4 H 1  G1G2 G4 H 2  G1G3G4 H 2 

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Example # 01 EEE 3105

Eliminate forward path-1

∆1 = 1- (sum of all individual loop gains)+...

∆1 = 1

Eliminate forward path-2

∆2 = 1- (sum of all individual loop gains)+...

∆2 = 1
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Example EEE 3105
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Example # 02 EEE 3105

• Find the transfer function, C(s)/R(s), for the signal-flow

graph in figure below.
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Example # 02 EEE 3105

• There is only one forward Path.

P1  G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )

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Example # 02 EEE 3105

• There are four feedback loops.

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Example # 02 EEE 3105

• Non-touching loops taken two at a time.

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Example # 02 EEE 3105

• Non-touching loops taken three at a time.

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Example # 02 EEE 3105

Eliminate forward path-1

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Example # 03 EEE 3105

Example 2.22 H1

R(s) E(s) X1 － X3 C(s)

G1 G2 G3 G4
－ X2
－
H2

H3

－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 X3 G4 C(s)

－H2
－H3
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Example # 03 EEE 3105
－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 G4 X3 1 C(s)

－H2

－H3

  1  (G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1 )

P1  G1G2G3G4 ; 1  1

C ( s) G1G2G3G4
G 
R( s ) 1  G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1
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Example # 04 EEE 3105
Example (BC KUO)
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Example EEE 3105
Assignment
B.C. KUO Figure 3.34
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Example EEE 3105

Example 2.23 －
－ X1 Y1
G1
R(s) + + C(s)
E(s)
－ －X +
2
G2
－ Y2

-1
X1 G1 Y1
-1
-1 1
R(s) 1 E(s) C(s)
1 1 1
X2 G2 Y2

-1
-1
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Example EEE 3105
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 X2 1 Y2 1
G2

-1 -1

7 loops:

3 ‘2 non-touching loops’ :
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Example EEE 3105

-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 X2 1 Y2 1
G2

-1 -1

Then: Δ  1  2G2  4G1G2

4 forward paths:
p1  (  1)  G1  1 Δ1  1  G2
p2  (  1)  G1  (  1)  G2  1 Δ2  1
p3  1  G 2  1 Δ3  1  G1
p4  1  G2  1  G1  1 Δ4  1
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Example EEE 3105

C ( s)
We have G( s) 
R( s )


 pk  k

G2  G1  2G1G2

1  2G2  4G1G2
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Example EEE 3105

1.Calculate forward path transfer function Pk for each forward path k.

PP1 G G
1 1 1G
GG
2 3
G31)G4and(path
G 2(path
4 2P  G 1)
5 G G G and
6 7(path 2)
8
P2  G5G6G7G8 (path 2)
2.Calculate all loop TF’s.
L1  G2 H 2 , L2  H 3G3 , L3  G6 H 6 , L4  G7 H 7
3.Consider nontouching loops 2 at a time.
Loops L1 and L2 do not touch Loops L3 and L4

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Examples EEE 3105
4. Consider nontouching loops 3 at a time.
None.
5. Calculate Δ from steps 2,3,4.
  1  L1  L2  L3  L4   L1 L3  L1 L4  L2 L3  L2 L4 
6. Calculate Δk as portion of Δ not touching
forward path k.

1  1  L3  L4  and  2  1  L1  L2 

The TF of the system is

Y ( s) P   P2  2
 T ( s)  1 1
R( s ) 

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Example EEE 3105

Y( s ) G 1 G 2 G 3 G 4  1  L 3  L 4  G 5 G 6 G 7 G 8  1  L 1  L 2

R( s ) 1  L 1  L 2  L 3  L 4  L 1 L 3  L 1 L 4  L 2 L 3  L 2 L 4
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Example EEE 3105

Example 2.10

Y( s ) G 1 G 2 G 3 G 4
R( s ) 1  G 2 G 3 H 2  G 3 G 4 H 1  G 1 G 2 G 3 G 4 H 3
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Example EEE 3105

Y( s ) P1  P2  2  P3
R( s ) 

P1 G1 G2 G3 G4 G5 G6 P2 G1 G2 G7 G6 P3 G1 G2 G3 G4 G8
 1   L1  L2  L3  L4  L5  L6  L7  L8   L5 L7  L5 L4  L3 L4

1 3 1 2 1  L5 1  G4 H4
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Example EEE 3105

Speed control of an electric traction motor.