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CHAPTER 7
CHAPTER 7
SIGNAL FLOW GRAPHS
7.1
DEFINITIONS
A Signal Flow Graph is a pictorial representation of the cause-andeffect relationship between the input and the output of a physical system,
just like Block Diagram. It graphically displays the transmission of signals
through the system but is easier to draw and easier to manipulate than
block diagram. The simplest form of a Signal Flow Graph would consist
of a single branch, with an input, transmittance, and output
A branch is terminated at both ends by nodes, represented by
thick dots, and the line whose arrow, situated in the middle, represents
the direction of the signal. Branches are always unidirectional.
7.2
YI = TIJ RJ
J =1
Y1 = T1 K RK
Y2 = T2 K RK
Y4 = T4 K RK
Y5 = T5 K RK
Y3 = T3 K RK
Tnew = T21T32T43
CATADMAN, LIZETTE IVY G.
X 4 = Tnew X 1 = [T21T32T43 ] X 1
CHAPTER 7
ADDITIONAL DEFINITIONS
X2.
An Input Node or Source is a node with only outgoing branches. For example,
input node.
X 1 is an
An Output Node or Sink is a node with only incoming branches. For example,
X 5 is an
output node.
A Forward Path is a path from the input node to the output node. For example,
to
X 1 to X 2
X 3 to X 4 to X 5 and X 1 to X 2 to X 4 to X 5 .
A Feedback Path or Feedback Loop is a path which originates and terminates on the same
node. For example, X 2 to X 3 back to X 2 .
A Self-Loop is a feedback loop consisting of a single branch. For example,
7.4
X 3 back to X 3 .
Masons Gain Rule is the formula used for finding the Transfer Function of a Single-Input,
Single-Output System of a Signal Flow Graph.
The Gain of a Branch is the transmission function of that branch when the transmission
function is a multiplicative operator.
The Path Gain is the product of the branch gains encountered in traversing a path.
The Loop Gain is the product of the branch gains encountered in traversing a loop.
The Determinant of the Signal Flow Graph or Characteristic Function, = 1 (Sum of all
the Loop Gains) + (Sum of products of the gains of all combinations of 2 non-touching loops)
(Sum of products of gains of all combinations of 3 nontouching loops) +
The Co-Factor of the Path is the determinant of the Signal Flow Graph formed by deleting all
loops touching the path.
The Co-Factor of the Path, k = 1 (Sum of all the Loop Gains not touching the Path) +
(Sum of products of the gains of all combinations of 2 non-touching loops not touching the Path)
(Sum of products of gains of all combinations of 3 nontouching loops not touching the Path) +
CATADMAN, LIZETTE IVY G.
CHAPTER 7
Two loops are said to be touching if they have any node/s or branch/es in common;
otherwise, they are non-touching.
7.5
T( s ) =
SINGLE-OUTPUT
SIGNAL
FLOW
P1 1 + P2 2 + P3 3 + ...
Example: Solve for the Transfer Function of the Signal Flow Graph using Masons Gain Rule.
Solution: Identify the Paths and Loops. Using the identified Paths and Loops, obtain the Path Gains
and Loop Gains.
For Paths:
6s
s
P1 = (1)(2 )
(3)(1) =
s+3
s+3
For Loops:
4s
s
L1 =
( 4 ) =
s+3
s + 3
s 3s
L 2 = (3 )
=
s + 1 s + 1
For Co-Factors:
1 = 1
2 = 1
CHAPTER 7
4 s 3 s (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 )
=
+
(s + 3) (s + 1)
s + 3 s + 1
= 1 (L1 + L 2 ) = 1
The Transfer Function:
6s
(1) + ( 18 )(1)
Y ( s ) P11 + P 2 2
s+3
=
=
T( s ) =
(s + 3) (s + 1) + 4 s (s + 1) + 3s (s + 3)
R( s )
(s + 3) (s + 1)
6 s 18(s + 3 )
(s + 1) [6 s 18(s + 3)]
Y( s )
s+3
=
=
T( s ) =
R( s ) (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 ) (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 )
(s + 3) (s + 1)
Example: Solve for the Transfer Function of the Signal Flow Graph using Masons Gain Rule.
Solution: Identify the Paths and Loops. Using the identified Paths and Loops, obtain the Path Gains
and Loop Gains.
For Paths:
1 8 11
P1 = (1) 2
(1)
s +4 s+8 s s
8
P1 = 2
s (s + 8 ) s 2 + 4
For Loops:
1 1
1 1
P 2 = (1)
2
(10 ) (1)
s + 1 s + s
s s
10
10
= 3
P2 =
2
2
(s + 1) s + s s s (s + 1)2
)( )
4
1
L1 = ( 4 ) 2
=
s + s s (s + 1)
8 56
L4 = ( 7 )
=
s +8 s +8
CHAPTER 7
30
11 3 s
L3 = (10 )
=
s s s + 3 s + 2 s (s + 3 )(s + 2 )
1 6
L5 = ( 6 ) =
s
s
L2 = s
For Co-Factors:
s (s + 1) + 4 + s 2 (s + 1) + 4 s
4
4
[
]
s
+ ( s ) +
=
s (s + 1)
s (s + 1)
s (s + 1)
1 = 1 (L1 + L 2 ) + (L1L 2 ) = 1
2 = 1 (L 2 ) = 1 ( s ) = 1 + s = s + 1
The Determinant:
56 6
30
+ ( s ) +
+
+ +
s (s + 3 )(s + 2 ) s + 8 s
s (s + 1)
= 1
( s ) + 4 56 + 4 6 + ( s ) 56 + ( s ) 6
s + 8
s
s (s + 1)
s (s + 1) s + 8 s (s + 1) s
4
( s ) 56 + 4 ( s ) 6
s + 8 s (s + 1)
s
s (s + 1)
- 4 (s + 2 )(s + 3 )(s + 8 ) s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 ) + 30 (s + 1) (s + 8 )
+
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
= 1
4
224
24
56 s
224
24
+
+ 6
+
+ 2
(s + 1) s(s + 1)(s + 8 ) s (s + 1) s + 8
(s + 1)(s + 8 ) s (s + 1)
The Determinant:
CHAPTER 7
= 1
2
(
)(
)
+
+
s
s
1
s
8
s (s + 1)(s + 8 )
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 ) 4 s 2 (s + 2 )(s + 3 )(s + 8 ) + s 3 (s + 1)(s + 2 )(s + 3 )(s + 8 )
=
+
+
2
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 )
s (s + 1) + 4 + s 2 (s + 1) + 4 s 10
8
(s + 1)
+ 3
2
2
2
s (s + 1)
s (s + 1)
Y ( s ) P11 + P 2 2 s (s + 8 ) s + 4
T( s ) =
=
=
R( s )
7.6
8 s (s + 1) + 4 + s 2 (s + 1) + 4 s
10
+ 3
3
2
s (s + 1)(s + 8 ) s + 4
s (s + 1)
T( s ) =
]
(
8 s (s + 1) + 4 + s 2 (s + 1) + 4 s + 108 (s + 8 ) s 2 + 4
s 3 (s + 1)(s + 8 ) s 2 + 4
The Superposition Method solves for the Transfer Functions by transforming the MultipleInput, Multiple-Output System into a simplified Single-Input, Single-Output System which would
represent the relationship between a certain input with a particular output.
Step
Step
Step
Step
1:
2:
3:
4:
Step 5:
Step 6:
TIJ ( s ) =
YI ( s ) P1 1 + P2 2 + P3 3 + ...
=
RJ ( s )
CHAPTER 7
Example: Solve for the Transfer Functions of the Signal Flow Graph using Masons Gain Rule.
Solution: It is advisable to obtain the Loop Gains first and the Determinant. The loops are usually
the same regardless whichever input and output combination is being considered.
For Loops:
s 4s
L1 = ( 4 )
=
s+2 s+2
The Determinant:
40
1 1
L 2 = ( 4 )
(10 ) =
s (s + 3 )
s s +3
4 s 40 s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
=
+
s (s + 3 )(s + 2 )
s + 2 s (s + 3 )
= 1 (L1 + L 2 ) = 1
Ignore
Y 2( s ) , Set R 2( s ) = 0
For Paths:
s
s
P1 = (1)
(1) =
s+2
s+2
10
1 1
P 2 = (1)
(10 )(1) =
s (s + 3 )
s s +3
For Co-Factors:
1 = 1
CATADMAN, LIZETTE IVY G.
2 = 1
CHAPTER 7
10
s
(1) +
(1)
Y 1( s ) P11 + P 2 2
s + 2
s (s + 3 )
T11 ( s ) =
=
=
R1( s )
s (s + 3)(s + 2 ) + 4 s 2 (s + 3) + 40(s + 2 )
s (s + 3)(s + 2 )
s 2 (s + 3) + 10 (s + 2 )
Y 1( s )
s (s + 3)(s + 2 )
s 2 (s + 3 ) + 10 (s + 2 )
=
T11 ( s ) =
=
R1( s ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
s (s + 3 )(s + 2 )
Ignore
Y 2( s ) , Set R1( s ) = 0
For Path:
10
1
P1 = (1)
(10 ) =
s+3
s +3
For Co-Factor:
1 = 1
The Transfer Function:
10
(1)
Y 1( s ) P11
10 s (s + 2 )
s+3
=
=
=
T12 ( s ) =
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
R 2( s )
s (s + 3 )(s + 2 )
Ignore
Y 1( s ) , Set R 2( s ) = 0
CHAPTER 7
1
1 1
P1 = (1)
(1) =
s (s + 3 )
s s +3
For Co-Factor:
1 = 1
The Transfer Function:
1
s (s + 3 ) (1)
Y 2( s ) P11
s+2
T21 ( s ) =
=
=
=
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
R1( s )
s (s + 3 )(s + 2 )
Ignore
Y 1( s ) , Set R1( s ) = 0
For Path:
1
1
P1 = (1)
(1) =
s+3
s +3
For Co-Factor:
4 s (s + 2 ) + 4 s 5 s + 2
=
=
s+2
s+2
s+2
1 = 1 L1 = 1
CHAPTER 7
1 5s + 2
Y 2( s ) P11
s (5 s + 2 )
s+3 s+2
T22 ( s ) =
=
=
=
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40 (s + 2 )
R 2( s )
s (s + 3 )(s + 2 )
7.7
When given a Block Diagram to be converted to a Signal Flow Graph, assign node numbers
to all inputs and outputs of the Block Diagram. For summing points and takeoff points, using the
conversion above, determine whether it will translate into a single node or two separate nodes;
then, assign their respective node numbers.
Also, recall the concept of summing points wherein cascaded (series) summing points can
be combined into a single summing point; and cascaded (series) takeoff points can also be
combined into a single takeoff point. Thus, a single node will represent such summing points and
takeoff points, respectively.
Example: Convert the Block Diagram to its equivalent Signal Flow Graph and solve for the Transfer
Function Using Masons Gain Rule.
Solution: Convert the block diagram to its equivalent signal flow graph. Then, identify the paths
and loops and obtain their gains.
CHAPTER 7
For Path:
3
1 3
P1 = (1)
(1) =
(s + 1)(s + 4 )
s +1 s + 4
For Loops:
3
1 3
L1 =
( 1) =
(s + 1)(s + 4 )
s + 1 s + 4
1
1
L2 =
( 1) =
s+1
s + 1
For Co-Factor:
1 = 1
The Determinant:
3
1 (s + 1)(s + 4 ) + 3 + (s + 4 ) (s + 2 )(s + 4 ) + 3
=
+
=
(s + 1)(s + 4 )
(s + 1)(s + 4 )
(s + 1)(s + 4 ) s + 1
= 1 (L1 + L 2 ) = 1
3
(s + 1)(s + 4 ) (1)
Y ( s ) P11
3
T( s ) =
=
=
=
(s + 2 )(s + 4 ) + 3 (s + 2 )(s + 4 ) + 3
R( s )
(s + 1)(s + 4 )
Example: Convert the Block Diagram to its equivalent Signal Flow Graph and solve for the Transfer
Functions Using Masons Gain Rule.
Solution:
L 2 = G 2 ( H 2 ) = G 2 H 2
The Determinant:
Set
R 2( s ) = R 3( s ) = R 4( s ) = 0
For Path:
1 = 1
The Transfer Function:
T11 ( s ) =
Set
Y ( s ) P11
G1G 2
=
=
R1 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 3( s ) = R 4( s ) = 0
CHAPTER 7
P1 = (1)(G 2 )(1) = G 2
For Co-Factor:
1 = 1
The Transfer Function:
T12 ( s ) =
Set
Y ( s ) P11
G2
=
=
R2 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 2( s ) = R 4( s ) = 0
For Path:
P1 = ( 1)(G 2 )(1) = G 2
For Co-Factor:
1 = 1
CATADMAN, LIZETTE IVY G.
CHAPTER 7
T13 ( s ) =
Set
Y ( s ) P11
G2
=
=
R3 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 2( s ) = R 3( s ) = 0
For Path:
For Co-Factor:
1 = 1
The Transfer Function:
T14 ( s ) =
7.8
G1G 2 H 1
Y ( s ) P11
=
=
R4 ( s )
1 + G1G 2 H 1 + G 2 H 2
PROBLEM SETS
7.8.1 SINGLE-INPUT, SINGLE-OUTPUT SIGNAL FLOW GRAPHS
A.
CHAPTER 7
C.
D.
CHAPTER 7
CHAPTER 7
C.
7.8.3
Instructions: Transform the Block Diagrams to its equivalent Signal Flow Graphs;
then, solve the Transfer Function using Masons Gain Rule.
1.
Single-Input, Single-Output
A.
B.
C.
Multiple-Input, Multiple-Output
CHAPTER 7
A.
B.
SOURCES/ REFERENCES
Distefano, Joseph III J., Allen R. Stubberub, and Ivan J. Williams. Schaums Outlines: Feedback
and Control Systems, Second Edition. USA: McGraw-Hill Companies, Inc., 1995.
Hostetter, Gene H., Clement J. Savant Jr., and Raymond T. Stefani. Design of Feedback Control
Systems, 2nd Edition. USA: Saunders College Publishing, 1989.