Control Systems

Block Diagrams
By:

Sheshadri.G.S.
CIT, Gubbi.

It is a representation of the control system giving the inter-relation between the transfer function of
various components. The block diagram is obtained after obtaining the differential equation & Transfer
function of all components of a control system. The arrow head pointing towards the block indicates the i/p
& pointing away from the block indicates the o/p.
If

is the TF,

After obtaining the block diagram for each & every component, all blocks are combined to obtain a
complete representation. It is then reduced to a simple form with the help of block diagram algebra.
The following block diagram reduction algebra is used,











(2)

(3)

(2)

"

(6)

(3)

(6)

C(S)

G(S)

(2)
(2)
#

(2)
(3)

G(S)

(3)

(6)
(2)

(6)

(6)

(2)

(6)

Block Diagrams
&

'

(1)

<

>

<

+
-

Solution: By eliminating the feed-back paths, we get

+
-

Combining the blocks in series, we get

C(S)

Eliminating the feed back path, we get

Control Systems
(2)

R(S)

Solution:

C(S)

Shifting the take-off beyond the block

, we get

R(S)

Combining

C(S)

and eliminating

R(S)

(feed back loop), we get

C(S)

Eliminating the feed back path

, we get

R(S)

C(S)

Combining all the three blocks, we get

R(S)

C(S)

Block Diagrams

R(S)

(3)

Solution:

C(S)

Re-arranging the block diagram, we get

R(S)

Eliminating

C(S)

loop & combining, we get

C(S)

R(S)

Eliminating feed back loop

R(S)

C(S)

Eliminating feed back loop

R(S)

, we get

C(S)

Control Systems

Signal Flow Graphs

By:

Sheshadri.G.S.
CIT, Gubbi.

For complicated systems, Block diagram reduction method becomes tedious & time consuming. An
alternate method is that signal flow graphs developed by S.J. Mason. In these graphs, each node represents
a system variable & each branch connected between two nodes acts as Signal Multiplier. The direction of
signal flow is indicated by an arrow.

1.
2.
S

A node is a point representing a variable.

A transmittance is a gain between two nodes.
A branch is a line joining two nodes. The signal travels along a branch.
It is a node which has only out going signals.
It is a node which is having only incoming signals.
It is a node which has both incoming & outgoing branches (signals).
It is the traversal of connected branches in the direction of branch arrows. Such that no node
is traversed more than once.
It is a closed path.
It is the product of the branch transmittances of a loop.
Loops are Non-Touching, if they do not possess any common node.
It is a path from i/p node to the o/p node which doesnt cross any node more than
once.
It is the product of branch transmittances of a forward path.
E

T
d

The relation between the i/p variable & the o/p variable of a signal flow graphs is given by the net
gain between the i/p & the o/p nodes and is known as Overall gain of the system.
Masons gain formula for the determination of overall system gain is given by,
Where,

Path gain of
Determinant of the graph.

The value of the

T

forward path.

for that part of the graph not touching the

Overall gain of the system.

forward path.

Signal Flow Graphs





Solution:
Masons gain formula is,
No. of forward paths:

Gain Products of all possible combinations of two non-touching loops:

No. of individual loops:

No. of three non-touching loops = 0.




Solution:
Masons gain formula is,
Forward Paths:

Contd......

Control Systems
No. of individual loops:

Two Non-touching loops:

Where

is i/p variable &

is o/p variable.

Solution:

No. of forward paths:

Individual loops:

Two non-touching loops:

Three non-touching loops = 0

Masons gain formula is,

R(S)

C(S)

Contd......

Signal Flow Graphs

Solution:

Re-arranging the summing points,

R(S)

C(S)

C(S)

R(S)

Signal flow graphs:



R(S)

C(S)

No. of forward paths:

No. of individual loops:

Masons gain formula is,

C(S)

R(S)

Solution: Shifting the take-off point

ahead of the block

. The BD reduces to,

C(S)
R(S)

Contd......

Control Systems

C(S)

R(S)

R(S)

C(S)

C(S)

R(S)

Signal flow graph:

R(S)

C(S)

No. of forward paths:

No. of individual loops:

R(S)

C(S)

Solution:
Shifting

beyond

, we get

R(S)

C(S)

Signal Flow Graphs

Eliminating feed back loop

, we get

R(S)

C(S)

Eliminating feed back loop

, we get

R(S)

C(S)

R(S)

C(S)

Eliminating the another feed back loop

, we get

R(S)

C(S)

R(S)

C(S)

Signal flow graph:

R(S)

C(S)

Contd......

Control Systems
No. of forward paths:

No. of individual loops:

R(S)

C(S)

Solution:
No. of forward paths:

No. of individual loops:

Two non-touching loops:

Solution:
Shifting the take off point of

beyond block

& Simplifying for the blocks

, we get

Signal Flow Graphs

Eliminating

loop, we get

Solution:
No. of forward paths:

Individual loops:

Two non-touching loops = 0

Contd......

Control Systems
Solution:

No. of forward paths:

No. of individual loops:

Two non-touching loops:

Three non-touching loops:

Four non-touching loops = 0

"

Contd......

10

Signal Flow Graphs

Solution:
No. of forward paths:

No. of individual loops:

Two non-touching loops:

Three non-touching loops = 0

&

'

Solution:
No. of forward paths:

No. of individual loops:

Two non-touching loops:

"

Contd......

11

Control Systems
Solution:
No. of forward paths:

No. of individual loops:

Two non-touching loops:

Three non-touching loops = 0

Solution:

No. of forward paths:

No. of individual loops:

Two non-touching loops:

Contd......

12

Signal Flow Graphs

Three non-touching loops = 0

'

Solution:
Same block diagram can be re-arranged as shown below.

Shifting the take-off points beyond

we get

13

Control Systems

Substituting x value in the block diagram. The block diagram becomes,

Signal flow graph:

No. of forward paths:

No. of individual loops:

Two non-touching loops = 0

>

<

>

>

<

<

<

<

<

>

<

>

<

>

<

>

Contd......

14

Signal Flow Graphs

Solution:
Same Block Diagram can be written as,

Substituting the value of x

Signal flow Graph:

Control Systems
No. of forward paths:

No. of individual loops:

Two non-touching loops = 0

>

Solution:
(i)

Let

then we can find

No. of forward paths:

No. of individual loops:

Two non-touching loops:

Three non-touching loops = 0

15

16

Signal Flow Graphs

(ii)

Let

Determine

No. of forward paths:

No. of individual loops:

remains same.

(iii)

Let

Determine

No. of forward paths:

X

(iv)
Let
Determine
(i.
e.
,Response at 2 when source 2 is acting).
(figure is in next page)
No. of forward paths:
X

Control Systems

Hence,

17