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1.3 Signal Flow Graph

This document provides an overview of signal flow graphs (SFGs) as an alternative representation to block diagrams for analyzing control systems. It defines key SFG concepts like nodes, branches, gains, paths, loops, and Mason's gain formula. Mason's gain formula allows calculating the transfer function of a linear system from its SFG. The document gives examples of constructing SFGs from equations and calculating transfer functions using the formula. It also defines terminology like sources, sinks, touching/non-touching loops, and outlines the systematic procedure for applying Mason's gain formula.

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earnest norman
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96 views

1.3 Signal Flow Graph

This document provides an overview of signal flow graphs (SFGs) as an alternative representation to block diagrams for analyzing control systems. It defines key SFG concepts like nodes, branches, gains, paths, loops, and Mason's gain formula. Mason's gain formula allows calculating the transfer function of a linear system from its SFG. The document gives examples of constructing SFGs from equations and calculating transfer functions using the formula. It also defines terminology like sources, sinks, touching/non-touching loops, and outlines the systematic procedure for applying Mason's gain formula.

Uploaded by

earnest norman
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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SIGNAL FLOW

GRAPH

CONTROL SYSTEM ENGINEERING


Outline

• Introduction to Signal Flow Graphs


– Definitions
– Terminologies

• Mason’s Gain Formula


– Examples

• Signal Flow Graph from Block Diagrams

• Design Examples
Signal Flow Graph (SFG)

• 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.

• SFG: It is a graphical representation of the


relationships between the variables of a set of
linear algebraic equations.
Introduction
• The block diagram is useful for graphically
representing the control system dynamics and is
extensively used in analysis and design of the
control system. An alternate approach to this is
Signal Flow Graph by S. J. Mason.

• It is noted that both yields the same information


and no one is superior to other.

• When applying SFG method to analyze the control


system, we must first transform the linear
differential equations into algebraic equation in S.
Introduction
• A SFG consists of a network in which nodes are
connected by directed branches.
• Each node represents a system variable and each
branch connected between two nodes acts as a
signal multiplier.
• Signal flows in only one direction.
• The direction of signal flow is indicated by an arrow
placed on the branch and the multiplication factor
(Gain) is indicated along the branch.
• The SFG 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.
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
Signal-Flow Graph Models

xo is input and x4 is output

x1  ax0  bx1  cx2 f

x2  dx1  ex3 x0 x1
c
x2 x3 x4
a d g 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.
Definitions and 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
• 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 covering two or more nodes. i.e.; X2 to
X3 and back to X2 is a feedback path.
Definitions and Terminologies
• A self-loop is a feedback loop consisting of a single node. 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
A21 A32 A43
• 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 A32 A23.

• Two loops, paths, or loop and a path are said to be non-touching if


they have no nodes in common.
Feedback path or loop :-

• it is a path to o/p node to i/p node.


Touching loops

• the loops having the common node in between


them, are called touching loops.
Non-touching loops

• when the loops does not have any common node


between them that are called as non- touching
loops.
Non-touching loops for forward paths

• Type equation here.


𝐹𝑜𝑟𝑤𝑎𝑟𝑑 𝑃𝑎𝑡ℎ𝑠: 𝑃1 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 ; 𝑃2 = 𝐺1 𝐺2 𝐺7 𝐺6 ; 𝑃3 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺8

• 𝐹𝑒𝑒𝑑𝑏𝑎𝑐𝑘 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛: 𝐿1 = −𝐺4 𝐻4 ; 𝐿2 = −𝐺2 𝐺3 𝐺4 𝐺5 𝐻2 ;


• 𝐿3 = −𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐻3 ; 𝐿4 = −𝐺2 𝐺7 𝐻2 ; 𝐿5 = −𝐺8 𝐻1 ;
Mason’s Gain Formula
• The transfer function, C(s)/R(s), of a system represented by a
signal flow graph is
𝐶(𝑠) 1 𝑛
•𝑇 𝑠 = = 𝑖=1 𝑃𝑖 ∆𝑖
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.
Mason’s Gain Formula
∆ = 1 - (sum of all individual loop gains) + (sum of gain
products of all possible combinations of two non
touching loops) – (sum of gain products of all possible
combinations of three non touching loops) + … and so
forth with sums of higher number of non-touching loop
gains
∆ = 1 - (L1 +L2+L3+…) + (L12 +L22+L32+…) –
(L13 +L23+L33+…) + ……..

∆i = value of Δ for the part of the signal flow graph that


does not touch the i-th forward path (Δi = 1 if there are
no non-touching loops to the i-th path.)
Systematic approach
1. Find out and calculate forward path gain Pi for
each forward path i.
2. Find out and calculate all individual loop gains.
3. Find out two non-touching loops and their loop
gains.
4. Find out three and/or higher non-touching loops
and their loop gains.
5. Determine Δ from steps 2, 3, 4.
6. Calculate Δi as portion of Δ not touching forward
path i.
7. Finally find out TF using Mason gain rule.

19
Ex.1
∆
Ex.2
Ex.3
Ex.4

∆ = 1 - (𝐺3 𝐻2 + 𝐺4 𝐻1 ) + (𝐺3 𝐺4 𝐻1 𝐻2 )
Ex.5
Ex.6
Ex.7
Ex.8

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