UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
SPECIFIC OBJECTIVES
By the end of the module unit the trainee(s) should be able to:
a) Define of terminologies in relation to control system
b) State the rules of signal flow graph algebra
c) Explain properties of signal flow graphs
d) Describe Mason’s gain equation.
e) Solve problems related to signal flow graph and block diagrams
INTRODUCTION
Another useful way of representing a system is by a signal flow graph. Although block diagram representation of a
system is a simple way of describing a system, it is rather cumbersome to use block diagram algebra and obtain its
overall transfer function. A signal flow graph describes how a signal gets modified as it travels from input to output
and the overall transfer function can be obtained very easily by using Mason's gain formula.
DEFINITION OF TERMINOLOGIES
1. Signal flow graph: It is a graphical representation of the relationships between the variables of a system.
2. Node: It is a point which represents either a variable or signal Every variable in a system is represented by a
node. The value of the variable is equal to the sum of the signals coming towards the node. Its value is
unaffected by the signals which are going away from the node.
3. Branch: A signal travels along a branch from one node to another node in the direction indicated on the branch.
Every branch is associated with a gain constant or transmittance. The signal gets multiplied by this gain as it
travels from one node to another.
In the example shown in Fig. 2.36, there are four nodes representing variables x1, x2, x3 and x4. The nodes are
hereafter referred by the respective variables for convenience. For example, nodes 1 and 2 are referred to as
nodes x1 and x2 respectively. The transmittance or gain of the branches are a12, a23 and a42 In this example,
Fig. 2.36 Example shows nodes, branches and gains of the branches
The value x2 is unaffected by signal going away from node x1 to node x3. Similarly, x3 = a23 x2
4. Input node: It is a node at which only outgoing branches are present. In Fig. 2.37 node x1 is an input node. It is
also called as source node.
Fig. 2.37 An example of a signal flow graph
5. Output node: It is a node at which only incoming signals are present. Node x5 is an output node. In some signal
flow graphs, this condition may not be satisfied by any of the nodes. We can make any variable, represented by
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UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
a node, as an output variable. To do this, we can introduce a branch with unit gain, going away from this node.
The node at the end of this branch satisfies the requirement of an output node. In the example of Fig. 2.37, if the
variable x4 is to be made an output variable, a branch is drawn at node x4 as shown by the dotted line in
Fig. (2.37) to create a node x6. Now node x6 has only incoming branch and its gain is a46 = 1. Therefore, x6 is an
output variable and since x4 = x6, x4 is also an output variable.
6. Path: It is the traversal from one node to another node through the branches in the direction of the branches
such that no node is traversed twice.
7. Forward path: It is a path from input node to output node. In the example of Fig. 2.37, xl - x2 - x3 - x4 – x5 is a
forward path. Similarly, x1 - x2 – x5 is also a forward path.
8. Path gain: The product of all branch gains while going through a forward path
For the part x1 - x2 -x3 - x4 the path gain is A x B x C
9. Loop: It is a path starting and ending on the same node. For example, in Fig. 2.37, x3 - x4 - x3 is a loop.
Similarly, x2 - x3 - x4 - x2 is also a loop.
10. Non touching loops: Loops which have no common node, are said to be non-touching loops.
11. Forward path gain: The gain product of the branches in the forward path is called forward path gain.
12. Feedback path or Feedback Loop: A path which originates and terminates on the same node
x2 − x3 − x2 - feedback path
A special name for a feedback loop that consists of any one node is a self-loop
13. Loop gain: The product of gains of branches in the loop is called as loop gain
For loop x1 − x3 − x5 − x2 the loop gain is L1, L2
14. Touching path: A loop and path are touching when they have a common node. Loops with one or more nodes
in common are called touching loops
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UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
15. Dummy nodes: A branch having gain 1 can be added at the input as well as the output node. This does not
affect the transfer function of the system. Dummy nodes cannot be added between chain nodes
RULES OF SIGNAL FLOW GRAPH ALGEBRA
Rule 1: Addition Rule
The value of a variable at a node equals the algebraic summation of signals arriving at the node
Rule 2: Transmission Rule
The value of a variable designated as a node in signal flow graphs is transmitted on every branch that leaves a node
Rule 3: Multiplication Rule
When branches are in series, the gains get multiplied
PROPERTIES OF SIGNAL FLOW GRAPHS
1. Applies only to time invariant linear systems
2. The signal flow is only along the direction of arrows
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UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
3. The value of a variable at each node is equal to the algebraic sum of all signals entering at that node
4. Since the system equations can be written differently the signal flow diagram is not unique
5. The gain of SFG is given by Mason’s equation
6. Every block diagram can be represented by SFG but the converse is not true
MASON’S GAIN EQUATION
Mason’s gain formula states that the overall transfer function is given by
Steps
With the notation for p where the first letter stands for serial number and the second number stands for the number
of non-touching loops e.g
p11, p22, p31 - 1st, 2nd, 3rd of single loops
p12, p22, p32 - 1st, 2nd, 3rd of loops of two non-touching loops
p13, p23, p33 - 1st, 2nd, 3rd of 3 non touching loops etc then the steps are
Step 1: Find out all possible forward paths and their gains i.e p1, p2, p3 . . . pn (n paths are taken)
Step 2: Find out all the single loops and their gains i.e p11, p21, p31 . . . pm1 (m single loops)
Step 3: Find out all the non-touching loops and their gains out of step 2 i.e p12, p22, p32 . . . pp2 (p two non-
touching loops)
Step 4: Find out all non-touching loops and their gains at > 2 i.e p13, p23, p33 . . . pq3 (q three non-touching loops)
Similarly find for other higher numbers of non-touching loops if any
Step 5: The value of Δ is given by
Step 6: Take p1 find 41 by equation (2) excluding all loops of step 2,3, etc that touch p1 path.
Determine Δ1p1
Repeat for all forward paths pn
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UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
Step 7: Find the transfer function by
Example 1
Solution
Step 1: only one forward path R − E − C – C
gain = G; p1 = G
Step 2: single loop E − C − E
p11 = ±GH
Step 3:4 no two or three non-touching loops
Step 5: Δ = 1 − (p11) = 1 − ±GH = 1 ± GH
Step 6: There is only one loop from step 2. It touches p1 path
Δ1 = 1 − (0) = 1 p1 Δ 1 = G
Step 7:
Example 2
Solution
Step 1: two forward paths
p1 → G1G2G3G4
p2 → G1G5
Step 2: four single loops
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G1G2 − H3 → p11
G2G3 − H2 → p21
G4 − H1 → p31
G5H1H4 → p41
Step 3: Two non-touching loops
p11 and p31 are two non-touching loops
p12 = p11 × p31 = (−G1G2H3) (−G4H1) = G1G2G4H1H4
Step 4: No three non-touching loops
Δ = 1 − (p11 + p21 + p31 + p41) + p12 = 1 − (−G1G2H3 − G2G3H2 − G4H1 + G5H1H4) + G1G2G4H1H4
= 1 + G1G2H3 + G2G3H2 + G4H1 − G5H1H4 + G1G2G4H1H4
Step 6: Taking p1→ G1G2G3G4
loops p11, p21, p31 and p41 touch it
Δ1 = 1 – 0 = 1
p1 Δ1 = G1G2G3G4
Taking p2 → G1G5
all touch p2 (p11 + p21 + p31 + p41)
Δ2 = 1
p2 Δ2 = G1G5
Step 7:
Example 3
Solution
Step 1: one forward path
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UNIT: CONTROL SYSTEM TOPIC 3: SIGNAL FLOW GRAPH
p1 → G1G2G3G4G5
Step 2: four single loops
p11 = −G1H1
p21 = −G1G2H2
p31 = −G4H3
p41 = −G2G3G4H4
Step 3: Two non-touching loops
loops 1 − 3, 2 − 3 are two non-touching loops
p12 = p11p31 = G1G4H1H4
p22 = p21p31 = G1G2G4H2H3
Step 4: no three non-touching loops
Step 5:
Δ = 1 − (p11 + p21 + p31 + p41) + (p12 + p22)
= 1 + G1H1 + G1G2H2 + G4H3 + G2G3G4H4 + G1G4H1H4 + G1G2G4H2H3
Step 6: All loops in 2 touch p1
Δ1 = 1
Step 7:
Example 4
Solution
Step 1: 2 forward paths
p1→ G1G2G3G4G8
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p2 → G1G5G6G7G8
Step 2: two single loops
p11 → −G3H3
P21 → −G6H6
Step 3: p11 and p21 are two non-touching loops
p12 = G3G6H3H6
Step 4: no three non-touching loops
Step 5:
Δ = 1 − (p11 + p21) + p12 = 1 + G3H3 + G6H6 + G3G6H3H6
Step 6: taking p1, p21 does not touch it
Δ1 = 1 − p21 = 1 + G6H6
taking p2, p11 does not touch it
Δ2 = 1 − p11 = 1 + G3H3
p2 Δ2 = G1G5G6G7G8 (1 + G3H3)
Step 7:
Exercise
Example 5
Find the transfer function for the block diagram of Fig. 2.40.
Solution: The block diagram and its signal flow graph are reproduced in Fig. 2.44 (a) and (b).
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Fig. 2.44 (a) Block diagram of a system
Fig. 2.44 (b) Signal flow graph of block diagram in Fig. 2.44 (a)
Step 1: Forward path gains
PI=GI G2 G3
Step 2: Loop gain
LI =-GIHI
L2 =-GI G2H2
L3 =-G2 G3 H3
Two or more non touching loops are not present hence
Pmr = 0 for r = 2, 3, ......
Step 3: The determinant of the graph
Δl = 1 + GI HI + GI G2 H2 + G2 G3 H3; Δl = 1
Step4: Transfer function
Example 6
Draw the signal flow graph for the block diagram given in Fig. 2.45 (a) and obtain the transfer function C(s)/R(s).
Fig. 2.45 (a) Block diagram of a system
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Fig. 2.45 (b) Signal flow graph of block diagram in Fig. 2.45 (a)
Solution: The signal flow graph can be easily written down as
Step 1: Forward path gains
There are two forward paths
Step 2: Loop gains
Step 2: Loop gains
No two or more non touching loops. Hence P mr = 0 for r = 2, 3, 4 ......
Step 3: The determinant of the graph
Step 4: The transfer function is,
Example 7
𝐶(𝑠) 𝐶(𝑠)
Find the transfer function ⁄𝑅 (𝑠) and ⁄𝑅 (𝑠) in Fig. 2.46(a) using signal flow graph technique and
1 2
assuming that only one input is present in each case.
Fig. 2.46 (a) Block diagram of the system
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Solution: The signal flow graph of the system can be easily written down as;
Fig. 2.46 (b) Signal flow graph of system in Fig. 2.46(a)
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Example 8
Fig. 2.47 Signal flow graph for ex. 2.15
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REVISION QUESTIONS
KNEC JUNE/JULY 2014
QUESTION 3(c)
Figure 4 shows a signal flow graph. Obtain its transfer function, 𝐶⁄𝑅 . (5 marks)
QUESTION 4(a)
Define the following terms with respect to signal flow diagrams
i) Loop
ii) Sink
iii) Forward path. (3 marks)
KNEC JUNE/JULY 2017
QUESTION 2 (c)
Figure 2 shows a block diagram of a control system. using Mason’s rule, obtain:
i) Its signal flow graph
ii) Its closed-loop transfer function. (12 marks)
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KNEC OCT/NOV. 2017
QUESTION 3(a)
Define each of the following with respect to signal flow graphs:
i) Forward path
ii) Sink node
iii) Source node. (3 marks)
QUESTION 3(b)
Figure 5 shows a signal flow graph for a control system. determine the system gain using mason’s formula.
(8 marks)
KNEC JUNE/JULY 2015
QUESTION 3(a)
Figure 3 shows a signal flow graph for a control system. obtain the system transfer function. (8 marks)
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