Todays Focus

Delivered By:
Ms. Garima Jain
A.P., EC Dept.
ATC,Indore

Main Menu
Introduction to Signal Flow Graphs
Definitions
Terminologies
Examples

Masons Gain Formula

Examples

Signal Flow Graph from Block

Diagrams
Examples

What is Signal Flow Graph?

SFG is a diagram which represents a set of
simultaneous
equations.

This method was developed by S.J.Mason.

This method
does nt require any reduction technique.

It consists of nodes and these nodes are

connected by a
directed line called branches.
Every branch has an arrow which represents
the flow of
signal.

For complicated systems, when Block

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;

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

Comparison of BD and SFG

block
diagram:

R (s )

G (s )

signal flow
graph:

G (s )

C (s )

R (s )

C (s )

Only one time SFG is to be

this case at each step block diagram is to
drawn and then Masons gain
e redrawn. Thats why it is tedious method.
formula is to be evaluated.
o wastage of time and space.
So time and space is saved.

SFG

Terminologies
Node: It is a point representing a variable.
x2 = t 12 x1 +t32 x3
X3
X1

t12

X2
t32

In this SFG there are 3 nodes.

Branch : A line joining two
X
nodes.X1
2

Input Node : Node which has only outgoing

branches.
X is input node.

Output node/ sink node: Only incoming

branches.
Mixed nodes: Has both incoming and outgoing
branches.
Transmittance : It is the gain between two nodes.
It is generally written on the branch near the
t34
t23
arrow. t12
X1

X2

X4

X3
t43

 Path : It is the traversal of connected branches in the

direction
of branch arrows, such that no node is traversed more than
once.
Forward path : A path which originates from the input node
and terminates at the output node and along which no node
is traversed more than once.
Forward Path gain : It is the product of branch
transmittances
of a forward path.

= G1 G2 G3 G4,

= G5 G6 G7 G8

Loop : Path that originates and terminates at

the same node and along which no other node is
traversed more than once.
Self loop: Path that originates and terminates at
the same node.
Loop gain: it is the product of branch
transmittances of a loop.
Non-touching loops: Loops that dont have any
common node or branch.

L 1 = G2 H2
H3
L3= G7 H7

SFG terms representation

branc
h
node

input node
(source)

transmittan
ce
mixed
node

x1

x4

b
forward
path
x2
loop

input node
(source)

mixed
node
path x

x3

Consider the signal flow graph below and identify

the following

a)
b)
c)
d)
e)

Input node.
Output node.
Forward paths.
Feedback paths (loops).
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;

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;

Consider the signal flow graph below and

identify the following

a)
b)
c)
d)
e)
f)

Input node.
Output node.
Forward paths.
Feedback paths.
Self loop.
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

(c) Forward Paths

(d) Feedback Paths or Loops

(d) Feedback Paths or Loops

(d) Feedback Paths or Loops

(d) Feedback Paths or Loops

(e) Self Loop(s)

(f) Loop Gains of the Feedback Loops

(g) Path Gains of the Forward Paths

Masons Gain Formula

A technique to reduce a signal-flow graph to a
single transfer function requires the application of
one formula.
The transfer function, C(s)/R(s), of a system
represented by a
signal-flow graph is

k = number of forward path

Pk = the kth forward path gain
= 1 ( loop gains) + ( non-touching loop gains
taken two at a time) ( non-touching loop gains
taken three at a time)+ so on .

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 from steps 2,3,4 and 5
7. Calculate i as portion of not
touching forward path i

27

Identification of Forward
Paths

P 1 = 1.1.G1 .G
= G1 G2 G3

P 2 = 1.1.G
= G 2 G3

.G

. G3. 1

.1

Individual Loops

= G 1G 2 H

= - G 4H

= - G 2G 3 H

=-G

=-G

Problem: to find out loops

from the given SFG

Example#1: Apply Masons Rule to calculate the transfer function

of the system represented by following Signal Flow Graph

C P11 P2 2

Therefore,

here are three feedback loops

L1 G1G4 H 1 ,

L2 G1G2G4 H 2 ,

L3 G1G3G4 H 2

Example#1: Apply Masons Rule to calculate the transfer function

of the system represented by following Signal Flow Graph

ere are no non-touching loops, therefore

= 1- (sum of all individual loop gains)

1 L1 L2 L3
1 G1G4 H1 G1G2 G4 H 2 G1G3G4 H 2

Example#1: Apply Masons 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

Example#1: Continue

Example#2: Apply Masons 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 ,

3. Consider two non-touching loops.

L 1L 3
L 1L 4
L 2L4 L 2L3

L4 G7 H 7

36

Example#2: continue
4. Consider three non-touching loops.
None.
5. Calculate 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

37

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
38

Example#2: continue
Y (s ) P11 P2 2

R( s )

G1G2 G3G4 1 G6 H 6 G7 H 7 G5G6 G7 G8 1 G2 H 2 G3 H 3

Y (s )

R(s ) 1 G2 H 2 H 3G3 G6 H 6 G7 H 7 G2 H 2 G6 H 6 G2 H 2 G7 H 7 H 3G3G6 H 6 H 3G3G7 H 7

39

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

Example#3
There is only one forward Path.

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

Example#3 Continue
There are four feedback loops.

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

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

Example#3 Continue

Eliminate forward
path-1

Example # 4: Apply Masons Rule to calculate the transfer

function of the system represented by following Signal Flow Graph

here are three forward paths, therefore n=3.

3

C (s )

R(s )

Pi i

i 1

P11 P2 2 P3 3

Example#4: Forward Paths

P1 A32 A43 A54 A65 A76

P2 A72
P3 A42 A54 A65 A76

Example#4: Loop Gains of the Feedback

Loops

L1 A32 A23
L2 A43 A34
L3 A54 A45
L4 A65 A56

L5 A76 A67
L6 A77
L7 A42 A34 A23
L8 A65 A76 A67

L9 A72 A57 A45 A34 A23

L10 A72 A67 A56 A45 A34 A23

Example#4: two non-touching loops

L1 L3

L2 L4

L3 L5

L4 L6

L1 L4

L2 L5

L3 L6

L4 L7

L1 L5

L2 L6

L1 L6

L2 L8

L1 L8

L5 L7

L7 L8

Rules for drawing of SFG

from Block diagram
All variables, summing points and take off
points are represented by nodes.
If a summing point is placed before a take off
point in the direction of signal flow, in such a
case the summing point and take off point shall
be represented by a single node.
If a summing point is placed after a take off
point in the direction of signal flow, in such a
case the summing point and take off point shall
be represented by separate nodes connected
by a branch having transmittance unity.

EX: Draw SFG from given

block diagram

From Block Diagram to Signal-Flow Graph Models

Example#5
H1

R(s) E(s)

G1

X
1

G2

X
H2

G3

X3

G4

H3

R(s) 1 E(s) G1

X1

G2 X2

H2
H3

H1
G3 X3 G4 C(s
)

C(s)

Example#6

R(s)

X1

E(s)

-1

R(s) 1

Y1

G1

+ C(s)
+
2

G2

Y2

-1

G1

-1

E(s)
1

G2

-1

Y1

-1

Y2

1
1

C(s)

Example#6
R(s) 1

E(s)

-1

-1

-1

C(s)

-1

-1

7 loops:
[G1 ( 1)];

[G2 ( 1)];

[G1 ( 1) G2 1];

[( 1) G1 ( 1) G2 1 ( 1)]; [1 G2 1 ( 1)];

[( 1) G1 1 ( 1)];
[1 G2 1 G1 1 ( 1)].

3 2 non-touching
loops
[G1 ( :1)] [G2 ( 1)];
[( 1) G1 1 ( 1)] [G2 ( 1)];
[1 G2 1 ( 1)] [G1 ( 1)].

Example#6
R(s) 1

E(s)

-1

X
1

X
2

-1

G
1

-1

Then:

C(s)

-1

-1

1 2G2 4G1G 2

4 forward paths:

p1 ( 1) G1 1
p2 ( 1) G1 ( 1) G2 1
p3 1 G 2 1

p4 1 G2 1 G1 1

1 1 G2
2 1
3 1 G1

4 1

Example#6
We
have

C (s )
pk k

R( s )

G G1 2G1G2
2
1 2G2 4G1G2

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

Since no loops touch the nodes

of P2, therefore

Hence the control ratio T =

C/R is

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

All feedback loops touches the two

forward paths, hence

Hence the control ratio T =

There are no non-touching loops,

hence

Example 2

Forward Paths

Loops

L1= -G 5 G 6
H1
L 2 = -G2 G 3G
4G 5 H2
L 3 = -G 8 H 1
L 4 = - G2 G
L5 = -G
4

H2

Loops

L 6 = - G 1G2 G 3G 4G

H3
L 7 = - G 1G2 G 7G
6 H3

L 8= - G 1G2 G 3G 4G

H3

Pair of Non-touching loops

L

L 4L

L
4

L 5L

L
7

L
7

L
4

L 3L

Non-touching loops for

paths

1=1
2= -G
H4
3= 1

Signal-Flow Graph Models

P1

Y( s )

P1 P2 2 P3

R( s )

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
3

1 L5

1 G4 H4

Block Diagram Reduction

Example
H2
R
+_

+
+

G1

_
+

H1

G2

G3

R
+_

G1G2G3
1 G1G2 H1 G2G3 H 2

G1G2G3
1 G1G2 H1 G2G3 H 2 G1G2G3

Solution for same problem by using

SFG

Forward Path

=G

G 2 G3

Loops

= G

G 2 H1

=-G

G3 H2

L
P

=G

= G

G 2 G3

=-G
=-G

G 2 H1
2

G3 H2

G 2 G3

1 = 1
= 1- (L1 + L

+L 3 )

=-G

G 2 G3

Than
ks