Department of

Electronics and Instrumentation Engineering

Control Systems – 22EIT401

Signal Flow Graph Representation of
Control Systems

Dr. M. Meenakshi, Professor, EIE

1
 Outline
• Introduction to Signal Flow Graphs
– Definitions
– Terminologies
– Examples
• Mason’s Gain Formula
– Examples
• Signal Flow Graph from Block Diagrams
• Design Examples
2
 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.

3
 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 represented by a Node.

• Every transmission function in a signal flow graph is represented by
a Branch.
• Branches are always unidirectional.
• The arrow in the branch denotes the direction of the signal flow.

4
 Signal-Flow Graph Models
Draw the signal flow graph to represent the following
Input output relations

Y1( s ) G11( s )  R1( s )  G12( s )  R2( s )

Y2( s ) G21( s )  R1( s )  G22( s )  R2( s )

𝑅1 (𝑠) 𝑌1 (𝑠)

𝑅2 (𝑠) 𝑌2 (𝑠)

5
 Signal-Flow Graph Models
Represent the following I/O relations in signal flow diagram form
r1 and r2 are inputs and x1 and x2 are outputs

a11 x1  a12 x2  r1 x1

a21 x1  a22 x2  r2 x2

𝑟1 𝑥1

𝑟2 𝑥2

6
 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

7
 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.

8
 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.

9
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

10
 Consider the signal flow graph below and identify the following

• There are two forward path gains;

11
 Consider the signal flow graph below and identify the following

• There are four loops

12
 Consider the signal flow graph below and identify the following

• Nontouching loop gains;

13
 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.

14
 Input and output Nodes

a) Input node

b) Output node

15
(c) Forward Paths

16
(d) Feedback Paths or Loops

17
(d) Feedback Paths or Loops

18
(d) Feedback Paths or Loops

19
(d) Feedback Paths or Loops

20
(e) Self Loop(s)

21
(f) Loop Gains of the Feedback Loops

22
(g) Path Gains of the Forward Paths

23
 Mason’s Rule (Mason, 1953)
• 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.
24
 Mason’s Rule:
• 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.
25
 Mason’s Rule:
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.)

26
 Systematic approach

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

27
 Example#1: Apply Mason’s Rule to calculate the transfer function of
the system represented by following Signal Flow Graph:

Therefore, C P11  P2  2

R 
There are three feedback loops

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

28
 Example#1: Apply Mason’s Rule to calculate the transfer function of
the system represented by following Signal Flow Graph

There are no non-touching loops, therefore

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

  1  L1  L2  L3 

  1  G1G4 H1  G1G2G4 H 2  G1G3G4 H 2 

29
 Example#1: Apply Mason’s Rule to calculate the transfer function of
the system represented by following Signal Flow Graph

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
30
Example#1: Continue

31
 Example#2: Apply Mason’s Rule to calculate the transfer function
of the system represented by following Signal Flow Graph

P1

P2

1. Calculate forward path gains for each forward path.

P1  G1G2G3G4 (path 1) and P2  G5G6G7 G8 (path 2)

2. Calculate all loop gains.

L1  G2 H 2 , L2  H 3G3 , L3  G6 H 6 , L4  G7 H 7

3. Consider two non-touching loops.

L1L3 L1L4
L2L4 L2L3 32
 Example#2: continue

4. Consider three non-touching loops.

None.

5. Calculate Δ from steps 2,3,4.

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

  1  G2 H 2  H 3G3  G6 H 6  G7 H 7  
G2 H 2G6 H 6  G2 H 2G7 H 7  H 3G3G6 H 6  H 3G3G7 H 7 

33
 Example#2: continue
Eliminate forward path-1

1  1  L3  L4 
1  1  G6 H 6  G7 H 7 

Eliminate forward path-2

 2  1  L1  L2 

 2  1  G2 H 2  G3 H 3 

34
 Example#2: continue

Y ( s ) P11  P2  2

R( s ) 

Y ( s) G1G2G3G4 1  G6 H 6  G7 H 7   G5G6G7G8 1  G2 H 2  G3 H 3 


R( s ) 1  G2 H 2  H 3G3  G6 H 6  G7 H 7   G2 H 2G6 H 6  G2 H 2G7 H 7  H 3G3G6 H 6  H 3G3G7 H 7 

35
 Example#3
• Find the transfer function, C(s)/R(s), for the signal-flow
graph in figure below.

36
 Example#3
• There is only one forward Path.

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

37
 Example#3
• There are four feedback loops.

38
 Example#3
• Non-touching loops taken two at a time.

39
 Example#3
• Non-touching loops taken three at a time.

40
 Example#3

Eliminate forward path-1

41
 Example#4: Apply Mason’s Rule to calculate the transfer function
of the system represented by following Signal Flow Graph

There are three forward paths, therefore n=3.

3
 Pi  i
C( s ) i 1 P11  P2  2  P3  3
 
R( s )  
42
 Example#4: Forward Paths

P3  A42 A54 A65 A76

P1  A32 A43 A54 A65 A76 P2  A72

43
 Example#4: Loop Gains of the Feedback Loops

L1  A32 A23
L5  A76 A67
L2  A43 A34 L9  A72 A57 A45 A34 A23
L6  A77
L3  A54 A45 L10  A72 A67 A56 A45 A34 A23
L7  A42 A34 A23
L4  A65 A56
L8  A65 A76 A67

44
 Example#4: two non-touching loops

L1 L3 L2 L4 L3 L5 L 4 L6 L5 L7 L7 L8
L2 L5 L3 L6 L 4 L7
L1 L4
L1 L5 L 2 L6

L1 L6 L2 L8

L1 L8

45
 Example#4: Three non-touching loops

L1 L3 L2 L4 L3 L5 L 4 L6 L5 L7 L7 L8
L2 L5 L3 L6 L 4 L7
L1 L4
L1 L5 L 2 L6

L1 L6 L2 L8

L1 L8

46
From Block Diagram to Signal-Flow Graph Models
Example#5
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
47
From Block Diagram to Signal-Flow Graph Models
Example#5
－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
48
 Example#6
－
－ 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

49
 Example#6
-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’ :

50
 Example#6
-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
51
 Example#6

We have
C( s )  pk k

R( s ) 
G  G1  2G1G2
 2
1  2G2  4G1G2

52
 Example-7: Determine the transfer function C/R for the block diagram below
by signal flow graph techniques.

• The signal flow graph of the above block diagram is shown below.

• There are two forward paths. The path gains are

• The three feedback loop gains are

• No loops are non-touching, hence

• Because the loops touch the nodes of P1, • Hence the control ratio T = C/R is
hence

• Since no loops touch the nodes of P2,

therefore 53
 Example-6: Find the control ratio C/R for the system given below.

• The signal flow graph is shown in the figure.

• The two forward path gains are

• The five feedback loop gains are

• There are no non-touching loops, hence

• All feedback loops touches the two forward

paths, hence

• Hence the control ratio T = 54