EI-206, Control Systems-I NIT Silchar
Module - II
Block Diagrams of System of Systems
Y (s)
From the definition of the transfer function of a system given as G(s) = U (s)
, where
Y (s) = L{y(t)} and U (s) = L{u(t)}. Thus,
Y (s) = G(s)U (s).
This can be represented in block diagram form using the Figure 1.
U (s) Y (s)
G(s)
Figure 1: Block diagram of system represented in transfer function
Recall the stick-balancing experiment in Module-0 and the generic representation of
the blocks can be drawn as in Figure 2. This can be called as a negative feedback closed
loop system as y(t) is fed back as y m (t) and the input the controller is e(t) = y d (t)−y m (t).
The equivalent transfer function representation of the closed loop system is represented
in block diagram in Figure 3.
Mostly, one will be interested in how y(t) or e(t) changes for any change in the input
i.e., y d (t). That can be easily analysed in block diagram:
y(t) = L−1 {Y (s)} = L−1 {T (s)U (s)}
Y (s)
where, T (s)) is the closed loop transfer function of the system given by T (s) = .
Y d (s)
E(s)
Similarly we can find the relation .
Y d (s)
D(t)
y d (t) e(t) C(t) M (t) y(t)
Controller Actuator Process
−
y m (t)
Sensor
Figure 2: Block diagram of closed loop negative feedback control system
Steps in Block Diagram Reduction:
1. Identify and eliminate series blocks.
2. Identify and eliminate parallel blocks.
Dr. L. Seban 27 February, 2025 1
EI-206, Control Systems-I NIT Silchar
D(s)
Y d (s) E(s) C(s) M (s) Y (s)
Gc (s) Gv (s) Gp (s)
−
Y m (s)
Gf (s)
Figure 3: Block Diagram of a Closed-Loop Control System with Negative Feedback
(Transfer Function Representation)
3. Reduce feedback loops using standard formulae.
4. Shift summing points where necessary (preferably to the left).
5. Shift take-off points where required (preferably to the right).
6. Repeat the steps until a single block remains.
Step 1: Combine Blocks in Series
U (s) X(s) Y (s)
G1 (s) G2 (s)
We know that following the principle of transfer function, X(s) = G1 (s)U (s) and
Y (s) = G2 (s)X(s). Hence, we can say: Y (s) = G1 (s)G2 (s)U (s). It can be represented
as a single equivalent block:
U (s) Y (s)
G1 (s)G2 (s)
Step 2: Combine Blocks in Parallel
X1 (s)
G1 (s)
X2 (s)
U (s) G2 (s) + Y (s)
X3 (s)
G3 (s)
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EI-206, Control Systems-I NIT Silchar
We know that following the principle of transfer function, X1 (s) = G1 (s)U (s), X2 (s) =
G2 (s)U (s) and X3 (s) = G3 (s)X(s). Due to the summation point, Y (s) = X1 (s)+X2 (s)+
X3 (s) Hence, we can say: Y (s) = (G1 (s) + G2 (s) + G3 (s))U (s). It can be represented as
a single equivalent block:
U (s) Y (s)
G1 (s) + G2 (s) + G3 (s)
Step 3: Feedback Loop Reduction
Y d (s) E(s) Y (s)
G(s)
∓
Y m (s)
H(s)
The feedback can be negative: E(s) = Y d (s) − Y m (s) or positive: E(s) = Y d (s) +
Y m (s).
Y (s) =G(s)E(s)
=G(s)(Y d (s) ∓ Y m (s))
=G(s)(Y d (s) ∓ H(s)Y (s))
Y (s) ± G(s)H(s)Y (s) =G(s)Y d (s)
Y (s) G(s)
⇒ T (s) = d =
Y (s) 1 ± G(s)H(s)
This can be represented as a single equivalent block:
Y d (s) G(s) Y (s)
1 ± G(s)H(s)
Step 4: Shift Summing Points
G(s)U (s)
U (s) G(s) +/- Y (s) = G(s)U (s) − X(s)
X(s)
After shifting the summing point to the left of the block, the equivalent diagram can
be represented as:
Dr. L. Seban 27 February, 2025 3
EI-206, Control Systems-I NIT Silchar
1
U (s) − X(s)
G(s)
U (s) +/- G(s) Y (s) = G(s)U (s) − X(s)
1
G(s)
X(s)
step 5: Shifting Take-off Points
U (s) G(s) Y1 = G(s)U (s)
Y2 = U (s)
U (s) G(s) Y1 = G(s)U (s)
1
Y2 = U (s)
G(s)
Signal Flow Graphs
Signal Flow Graphs (SFGs) are graphical representations used to model and analyze the
flow of signals in a system. As an alternative to block diagrams, signal flow graphs pro-
vide a means to depict the interconnection between systems.
Block Diagram to Signal Flow Graphs
In a Signal Flow Graph, nodes represent system variables, such as signals or state vari-
ables, while directed edges represent the flow of signals between these variables. Each
edge is associated with a transfer function, which describes the relationship between the
input and output signals.
Steps in Converting a Block Diagram to a Signal Flow Graph:
1. Identify and mark Nodes: Represent input signals, output signals, internal signals
(output from transfer function), summing junctions, and take-off points as circled
nodes.
Dr. L. Seban 27 February, 2025 4
EI-206, Control Systems-I NIT Silchar
2. Draw branches with signal direction and assign gains and sign: Represent con-
nections between nodes with directed arrows indicating signal flow direction and
corresponding gain value from the block diagram. In case of a negative feedback,
Include a negative sign within the transfer function of the feedback loop.
3. Remove redundant loops (cycles with zero net gain) as they don’t affect the overall
signal flow.
Examples:
Figure 4: Example-1: Equivalent SFG of Block Diagram of a System
Figure 5: Example-2: Equivalent SFG of Block Diagram of a System
Mason’s Rule to solve Signal Flow Graph:
Mason’s Rule or Mason’s Gain Formula is used to analyze Signal Flow Graphs (SFGs)
to determine the overall transfer function of a complex interconnected system.
Dr. L. Seban 27 February, 2025 5
EI-206, Control Systems-I NIT Silchar
Figure 6: Example-3: Equivalent SFG of Block Diagram of a System
In order to apply Mason’s Gain Formula, let us understand few terms:
• Forward Paths: A forward path is a unique sequence of branches from the in-
put node to the output node that does not form any loops and where no node is
encountered more than once.
• Forward Path Gain: While moving through forward path the product of the gain
encountered in traversing this path is called as the forward path gain.
• Loops: A loop is a closed path in the graph that starts and ends at the same node,
possibly passing through other nodes and branches but not more than once.
• Non-Touching Loops: Non-touching loops are loops that do not share any com-
mon nodes or branches.
• Loop Gain: While moving through a loop the product of the gain encountered in
traversing this loop is called as the loop gain.
Formula:
Pn
Y (s) i=1 Pi ∆i
T (s) = =
X(s) ∆
where,
• n: Total number of the forward paths in the SFG.
• Pi : Forward Path Gain of the ith forward path.
• Determinant of SFG, ∆:
P P
∆ = 1 – ( loop gains of all individual
P loops) + ( product of loop gains of
all set of two non-touching loops) − ( product of loop gains of all set of three
non-touching loops) + . . .
Dr. L. Seban 27 February, 2025 6
EI-206, Control Systems-I NIT Silchar
• Co-factor of ith forward path, ∆i :
∆i is the value of ∆ of the SFG after removing the ith forward path.
Let us solve one interesting example.
Figure 7: Example Problem: Mason’s Rule to solve Signal Flow Graph
• Total forward paths, n = 2, i.e., i = 1, 2.
• Forward Path Gains
P1 = H1 H3 H7 H10 H13
P2 = H2 H5 H10 H13
• Loop Gains
L1 = H3 H4
L2 = H5 H6
L3 = H10 H11
L4 = H9
L5 = H10 H13 H12 H8 H7
• Determinant of SFG, ∆:
∆ = 1 − (L1 + L2 + L3 + L4 + L5 )
+ (L1 L2 + L1 L3 + L1 L4 + L2 L4 + L3 L4 )
− (L1 L2 L4 + L1 L3 L4 )
• Co-factor of ith forward path, ∆i :
∆1 = 1 − (L4 )
∆2 = 1 − (L1 + L4 ) + (L1 L4 )
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EI-206, Control Systems-I NIT Silchar
The closed-loop transfer function is,
P2
Y (s) Pi ∆i P1 ∆1 + P2 ∆2
T (s) = = i=1 =
X(s) ∆ ∆
Substitute the values of P1 , ∆1 , P2 , ∆2 , and ∆ in the above equation and you will get
the transfer function for the SFG in Figure 7.
Dr. L. Seban 27 February, 2025 8
