Iunit 111

BLOCK DIAGRAM AND SIGNAL FLOW GRAPHS

~.1 BLOCK DIAGRAM REPRESENTATION
perfo rmed wi th the help of error detector which is
• A control system consist s of variou s co mpon ents to
represe nted by circle with four parts, out of th at one is
perfonT1 given task. Each comp onent does some work reserved for ou tput. The thi rd component of block
(say techno g enera to r covert s speed into voltage) diagram is ca ll ed a takeoff point which re present th e
hence block di agram is used to show the function s appli catio n of the total ou tput from the point as an
performed by each comp onent in contro l engineering. input to some other block. The fourth component of
• A block diagram is a pictorial; representation of control block diagram cal led as arrows , which indicates
system , showing relation between input and outpu t of unidirectional flow of signals in these diagra ms. The
various compo nents . In · block diagram each meaning of each part wi ll be cl ea r from Fig . 2.2.
component of a system is represented by a separate Summing point
Block
Take off point C (s)
functional block. The simplest form of the block R (s) G1 {s)
diagram is the single block with one input and one
output. B (s) C(s) - - ~
Fig. 2.2 : Elements of block diagram

2.Z
.. BLOCK DIAGRAM OF SIMPLE CLOSED
· :}

Fig. 2.1
• The block diagra m is obtain ed after obtain ing the
,;i ;;.· LOOP SYSTEM
differential equat ion and · transfer function of all • When two blocks are connected to form a closed loop.
components of a contro l system . The transfer functions The block diagram is known as canonica l form of block
· diagram as shown in Fig. 2.3 wh ere posit ive and
of the comp onent s are usually entered in . the
negative signs represent posit ive and negati ve
corresponding blocks, which are connected by arrows
to indicate the direct ion of the flow of signals. feedback.
·
• The advantages of block diagra m representation of a R(s) = Reference input.
system is to' simpli fy the complicated system . It is very C(s) - Controlled output. ·
simple to constr uct a block diagram for complicated G(s) = · C(s)/R(s) = Director forward Transfer
systems. The functi on of each comp onent can be function
obtained from block diagram. However the H(s) = B(s)/C(s) = Feedback or reverse
performance of a system can be obtained by using transfer function.
transfer functi on shown in block diagram. G(s), H(s) = Loop transfer function
• The main disadv antag e is that, diagram does not E (s) C (s)
R (s) +
contain any inform ation concerning the . physical
construction of the system. Similarly source of energy
is not shown in the block diagrams may be drawn fo_r a B (s)

system , depen ding upon the viewp oint of the analysis.

• There are four basic comp onent s of a block diagram.
Fig. 2.3
1. Blocks
E(s) = Ratio error or actuat ing signa l ratio
2. Summing point R(s)

~~:~
3. Takeoff point and
and = Primary feedback ratio
4. Arrows. d
• Blocks describe the relatio nship between th e inp~t an Now from block diagram Fig . 2.3, actuating signal.
outpu t quant ities throug h a trans f er functi on · With the E(s) = R(s) ± B(s) · · · (2-1)
help of summ ing point, the outpu t of two or_mo~e and B(s) = C(s) . H(s) ... (2.2)
blocks are added or subtracted. This functio n is
(2.1)
 I< DIAGRAM AND SIGNAL Flow G
BLOC ~---- :;~ R.4'~~
CONTRO L SYSTEM (ELECT., BATU ) 2-~ "'l'''. G (s ) \~ C(s) l
E (6 ) f\\1--- --
~~
~-...~~--'
Hence E(s) = R(sl ±: Cts) • H(s) "' (2.3 ) 11 (s)
where as C(s) = E(s) . G(s)
From equation (2. 3). B (s)

C(s) = [R(s) ± C(s) • H(s) J G(s) Fig. 2.4 : Unity feedbac k

C(s) = G(s) R(s) ± C(s) G(s) H(s) op system, the other type of tr
of close d IO . ansfe
C(s) :: C( s) G(s) H(s) = G(s) R(s) In case pen loop transfer function is used .
fun ction known as o db . . It i

Hence closed loop transfer function , transfor m of fee ack signa l t

the ratio of Lap Iace o ti-,,
~ G(s)
· · · (2.4) error signal = B(s) / E(s).
T.F. = R (s) = 1 + G (s) H (s)
Since we know
Here in eq uation (2.4), positive sign for negativ e
C(s) = E(s) G(s)
feedbac k and negativ e for positive feedback.
by equating and B(s) = H(s) C(s)
Charact eristic eq uatio n can be o btai ned
B(s) = H(s) G(s) E(s)
denomin ator polyn omial to zero.
. B(s)
Hence cha racterist ic equat ion, Open Loop Transfer Function = E(s)
1 + G(s) H(s) = 0 . .. (2 .5)
= G(s) H(s) ... (2.E
For unity feedbac k control system, the feedback transfer
fu nction H(s) = 1, hence its closed loop transfer function . ,-~~'~I;ij:tiq~r§.i~11~:~ t§1~i, e'.~lil~re1P:r:fttlu tEs :
C(s) _ G(s)
... (2.6) • To find the tr~nsfer of complic ated system, bloc
R(s) - 1 + G(s)
diagram reductio n method is used. Hence few ru les an
Its characte ristic equation formed for it.
1 + G(s) = 0
,, .· .
Sr.
Transformation or Rules o;i~(~~;y~<Jtf~
No.
1. Blocks in Cascade C(s) =G1(s) G2(s) R(s)
D = A+B-C
2. Use of more error detectors
~
Ts Tc
3. Combining blocks in parallel ~ C(s) = R(s) [G1(s) + G2(s)]
or eliminating a forward loop ~ c (s) - ~

4. Elimination of feedback loop D (s) R(s)

C(s) = HG(s) H(s)

5. Shifting of error detector C C = AG(s) + BG(s)

' C
(summing point beyond a B
block)
6. Shifting or error detector C (s)
C = AG1(s) + BG1(s)
(summing point ahead of . c
~
= G1(s) (A+ B)
'

block)
A AG1
7. Shifting of take off point C {s)
ahead the block C(s) = AG1
AG 1

8. Shifting of take off point

beyond the block
A,ff i-c (s) A~ :. G 1''.
'· - ·,
AG1
>'·.. , C {s) C(s) = AG1
L_Y(s )"A ,d!G,\
Y (s) = A
coNTROL SYSTEM (ELECT., BATU)
(2.3) BLOCK DIAGRAM AND SIGNAL FLOW GRAPHS
~
C' SOLVED EXAMPLES
.
Solution:
Example 2.1 : Find the Transfer Function of given . Block Shift take off point of H1 beyond block G3 .
Diagram.

Fig. 2.9
Fig. 2.5 Eliminate feedback having T.F. H2 .
.----,--:::---'C"'1
Solution: R (s)
Shift take off point of H2 to right so it will become H /G .
2 4

C (s)

Fig. 2.6 R (s)

On simplifying

C (s)

Fig. 2.7
G1G2G3G4
C(s) 1 - G3G4H1 + G2G3H2
=
R(s) G1G2G3G4H3
l + 1 - G3G4H1 + G2G3H2 Fig. 2.12

C(s) G1G2G3G4 C G1G2G3

R = G4 + 1 + G2G3H2 + G2H1 (1 - G1)
R(s) = 1- G3G4H1 + G2G3H2 + G1G2G3G4H3
Example 2.3 : Determine the closed loop transfer function
Example 2.2 : Find the transfer function of given block
for the system shown in Fig. 2.13.
diagram.

Fig. 2.13
Fig. 2.8
 - - .• \Jl{.c\pl,
CONTROL SYSTEM (ELECT., BATU)
(2 .4) - '11
Solution:
Solution:
The block diagram given in Fig. 2.18 can be mod·.
111
To find out the transfer fun ction of the system depicted in
given as Fig. 2.19. •d ,,
Fig . 2.14 we manipulat e the same as given in Fig. 2.14.
.G,
~~ )
H2
Fig. 2.19
We can further modify the above Fig . 2.19 as 9.1ven •
Fig. 2.14 1
. 2 20 n
This can further be modified as given as Fig . 2.15. F19 . . .
G2 C(s)
1 + G2 H2
Fig. 2.20
C (s)
Fig. 2.16
R (s)
-
C (s)
Fig. 2.17
C(s) G1G2G3 . Fig. 2.21
So,
R(s) = [1 + G2H2 + G1G2H1 + G2G3 H ]" •• Ans. R (s)
3
C (s)
Example 2.4 : Find the closed loop transfer function for the
system shown in Fig. 2.18 below.
R (s)
Fig. 2.23
Fig. 2.1s I So' C(s) - G1 G2
R(s) - (1 + H G . + H G G + H1G1
2 2 3 1 2

... Aris
G,J____,
CONTROL SYSTEM (ELECT., BATU)
(2.5) BLOCK DIAGRAM AND SIGNAL FLOW GRAPHS
Example 2.5 : Find the transfer function of the system given
in the following block diagram. Example 2.6 : Determine the tra~sf~r function of the
(allowing block diagram given below tn Ftg. 230·

R (s)

Fig. 2.24
Solution:
The block diagram in Fig . 2.24 can be modified as given Fig. 2.30
below Fig. 2.25.
Solution:
The given block diagram can be modified as given in
R (s) Fig. 2.31.

Fig. 2.25

Fig. 2.31

Fig. 2.32

R (s) + C (s)

C (s}

Fig. 2.34
 BLOCK DIAGRAM AND SIGNAL Flow
~C~O!!N!!
TR~O~L~ S~Y~S~T~EM
~ (E~L:!_EC
(2.6)
~T~..~B~A~T~U2_)_ _ _ _ _ _ _ _~ ~ - ; . . ~~~
- - :- . Find the transfer ,unctton tn the I,
Example 2.B . fo110,,
R (s) C (s) _
block dwgram. ~'. "!" '
:? H2-1
,,;,-.,,~-~

Fig. 2.35
. (G1G2G1 + G1G4) Ans .
So transfe r fu nction = (l + H G G + H1G1G2 + H 2G 4)"'
2 2 3

Example 2. 7 : Find the transfer fun ction in th e following

block diagram.

Fig. 2.41

R (s) + C (s) Solution: h

. 42 given below show ow transfer fu
2
The Fig. · d' f1ct1r1
. df
derive rom the given block 1agram.

Fig. 2.36 R (s) +

Solution:

C (s)
Fig. 2.42
We can further modify the above Fig. 2.42 as givei
Fig. 2.43.
R (s)

Fig. 2.37

R (s) +

Fig. 2.43
R (s) + = "'.:""""~=

Fig. 2.38
R (s) +

Fig. 2.39
R (s) + R (s) +
C (s) fte1G2Gi ' /i\\fi{
¾~31-'.12 ~ (314?~,,

Fig. 2.40

Therefore
coNTROL SYSTEM (ELECT., BATU)
(2.7) BLOCK DIAGRAM AND SIGNAL FLOW GRAPH S
.::.--
e 2 9 · Find the transfe r functio n in the followi n g
ExamP l · · G 2 (1 + G 3 G 4 H )
3 C (s)
block diagram. II + G 1 G 4H 3 - G 2Glt

Fig . 2.51
R (s) + G 1G2 (1 + G 3G 4H3 t G 3G 4 C (s)
-►
1+ G3G4 H3 - G7GJi; 1 + G,1G 4 H1

Fig. 2.46
Solution:
The Fig. 2.47 given below show how transfer functio n is
derived frorr, the given block diagram. Fig. 2.52
H2
R (s)+
G ,· .1_,+ G 3G 4 H 3 - G 2 G 3 Hz
"'·: '_ G H (1 + G G H }:
1 2 1 3 4 3
'·/ ·

Fig. 2.53
Therefore
C(s) G1G 2G3G4
R(s) = [l + G3G4H3 - G2G H2 + G G H (1 + G G H )] ··.Ans.
3 1 2 1 3 4 3
Fig. 2.47
Example 2.10 : Find the transfe r functio n in the followi ng
block diagram.

Fig. 2.48

Fig. 2.54
Soluti on:
The Fig. 2.55 given below show how transfe r functio n is
derived from the given block diagra m .

C (s)

Fig. 2.50 Fig. 2.~5

CONTROL SYSTEM (ELECT., BATU) BLOCK DIAGRAM AND SIGNAL FLOW GRAp
(2.8) Hs
G2H1 • A sig nal flow graph is a graphical representation of th
G2G3 + G4 relati on betwee n the variables of a set of lin e
algebraic equation s. It consists of a network in Wh~arICh
- R (s) +
B G2G3 + GJ
•

nodes rep resenting each of system variable are

co nnected by direct branches .
The following terms are used in signal flow graph.
► Node : It represents system variable which is eq
to the sum of all incoming signals at the node. uai
Fig. 2.56
► Source Node : The node having only outgoin
9
G2H1 branches, known as source or input node fOr
G2 G3 + G4 example X0.
C (s)
·G2G3 + G4
Xo 1
8 35
813
Fig. 2.61
► Sink Node : The node having incoming branch
known as sink node. For example Xs.
R (s) + JJ.;;tJ~G3 + C(s) ► Chain Node : · Node having incoming and
"·)\jjj,z{G?9i}. outgoing branches is known as chain node: Say XL
X2, X3 and~-
Forward path - A path from input to output node.
For example
a12 · a23- a34 a4 5 one forward path
d .
a12 a23 a3s 2n forward path
1------£7,•~~~~~::~~~I
rd
a13 a34 a4s 3 forward path
C (S th
a13 a3s 4 forward path
Note : No node to be traced twice.
► Feedback Loop : A loop which starts and ends at
Fig. 2.59 the same node is known as feedback loop.
R (s) + ~ (½G3 +$~) For example a23 · a34 · a42.
~ ► Self Loop: A feedback loop consisting of only one
t:l~i~~ ~ G4) 1
nodi:! i_
s called as self loop. i.e. a33 .
► Path Gain : The product of branch gains while
going through a forward path.
Fig. 2.60
i.e. Ex. a12 · a23 a34 · a45.
C(s) G1 (G2G3 + G1)
Therefore, R(s) = (1 + G1G2H1 - (G2G3 + G4) (H2 + G1)l ... Ans. Construction of Signal Flow Graph :
ti~ SlGNJ.(~;;f't:0-W·G,AAPt-t i,, . :? ...., ,. ·, ·•- •·' ,.,, . • It is constructed from its describing equations. Let us
consider a system describing by the following set of
• Block diagram are very useful for representing control equations.
system, but for complicated. system, the block diagram
X2 = a12X1 + a32X3 + a42X4 + as2Xs
reduction process is tedious and time consuming. An
X3 = a23X 2
alternate method suggested by Mason called as signal
~ = a34X3 + a44Xt
flow graphs. It does not require any reduction process
because of availability of flow graph gain formula Xs = a35X3 + a4s><.t
Where X1 is input variable.
which gives input-output relations.
Xs is output variable.
CONTROL SYSTEM (ELECT., BATU) (2.9) BLOCK DIAGRAM AND SIGNAL FLOW GRAPHS

C(s) .
Example 2.ll : find R(s) by using Mason 's gain formula

R (s)

Fig . 2.62
[2.5 MASON~S GAIN FORMULA -''- · · Fig. 2.63
To find the T.F. from signal flow graph, we use the Solution:
fo llowing formul a : I Pk Lik
I Pk Lik So, T.F. = Li here numbe r of forwar d paths k = 2
T.F. = Li
P1 = G1G2G3G4, P2 = GsG4
Here, Kare the numbe r of forwar d path Individ ual loop
th
Pk is the gain of k forwar d path. P11 = - G~H1, P12= - G1G2G3G4H2, P13 = - GsG4H2
Li is system determ inant to be calculated Non-to uching loops P12 = GsG4H2 (G2H1)
= 1 - (sum of loop gain of all individ ual loops) Li = 1 - (- G2H1 - G1G2G3H4H 2 - GsG4H2)
+ (sum of gain produc ts of all possible + GsG4G2H1H2
combin ations of two non touchin g loops) Now P1 = 1 - 0 = 1
- (sum of gain produc ts of all possible P2 = 1 - (G2H1) = 1 + G2H1
combin ation of three non-to uching loops) P1 Li 1 + P2 Li 2 G1G2G3G4 (1) + G1Gs (1 + G2H1)
.-. T.F. = Li = Li
= 1 - I Pm1 + I Pm2 + I Pm3
m
Lik = Value of above Li by elimina ting all loop gains
th
Example 2.12 : Find i for the system whose block diagra m
which are touchi ng to the k forwar d path represent as shown in Fig. 2.64 by S.F.G. techniques.
Use Mason 's gain formul a in above Fig. 2.62 and find
T.F.
1. The numbe r of forwar d paths
P1 = a12 a23 a34 a4s X5 C (s)
P2 = a12 a23 a3s
2. Numbe of individ ual loops with loop gain
r
P11 = =
a23 a32, P21 a23 a34 a42
P = a44, P41 = a23 a34 a4s as2, P~1 = a23 a3s
31
as2
3. Possible combi nation of two non-to uching loops
with loop gain produc ts
Fig. 2.64
P12 = a23 a32 a44
Soluti on:
P44 = a23 a3s as2 a44 given block diagra m
The signal flow graph for
4. There is no combi nation of three non-lo op etc.
repres entatio n
Pm 3 = Pm4 = 0
5. First forwar d path is in touch with all loops
Li1 = 1 R (s) X1
Li2 = 1 - a44
The second forwar d path in not touch loop
~ P1 Li1 + P2 Li2
T.F. = X1 = A
u
a12 a23 a34 a4s + a12 a ?3 + a3s (1 - a44) Fig; 2.65
= Li
CONTROL SYSTEM (ELECT., BATU) ~
(2.10) BLOCK DIAGRAM AND SIGNAL Flow
P1 =G1G3, P2 = G1G2, P3 =G1G3H 2G3 . G~~
Solution: ~I
P4 = G4H2G1G 2 In the given signal flow graph, number of fon, .
L1 = - G1G3H1H 2 , vvard
K = 1. Path1
L2 = - G1G2H1H 2 Forward path gain T1 = G1G2G3
Ii = 1 - (- G1G3H1H2 - G1G2H1H2) + 0 Individual feedback loops are
P1 li1 + P2 li2 + P3 /i3 + P3 41
T.F. =
Ii

Example 2.13: Find T.F.

Fig. 2.69
All are touching each other, so no combination of non.
Fig. 2.66 touching loops.
Solution: Ii = 1 - (L1 + L2 + L3)
= 1- G1G2H1 + G2G2H3 + G1G2G3
111 = 1
. 111 G1G2G3
T.F. =T1~ =1 - G1G2H1 + G2G3H2 + G1G2Gi

R (s) 1
1. How signal flow graph are used to find out transfer
function?
2. How signal flow graph is developed from a blocK
diagram given for a system ?
3. What is the function of an error detector in a control
- 1 system ? How does it work and tries to bring the
Fig. 2.67 controlled parameter to its set value ?
4. What are the advantages of providing negative
feedback ? How negative feedback affects gain?
Example 2.14 : Find the transfer function in the following 5. What is the difference between type and order of the
signal flow graph. system? How these are determined? ·
6. What is the Mason's gain formula ? Explain how it is
used for determining transfer function.
7. Describe various techniques used for reducing block
diagram to find out transfer function.
p5 C (s)

Fi . 2.68