Three basic forms

cascade

G1

G1 G2

G2

parallel

feedback

G1

G1

G2

G2

G1 G2

G1
1+ G1 G2

2.6 block diagram models (dynamic)

2.6.2.2 block diagram transformations
1. Moving a summing point to be:
behind a block
x1
G

x2

x1

x2

Ahead a block
x1

y
G

x1

x2

G
1/G

x2

2.6

block diagram models (dynamic)

2. Moving a pickoff point to be:

behind a block
x1

x2

x1

x2

1/G

ahead a block
x1

G
x2

x1

y
x2

2.6

block diagram models (dynamic)

3. Interchanging the neighboring

Summing points
x3
y
x1

x3
x1

x2

x2

Pickoff points
y
x1

y
x2

x1

x2

2.6

block diagram models (dynamic)

4. Combining the blocks according to three basic forms.

Notes:
1. Neighboring summing point and pickoff point can not be
interchanged
2. The summing point or pickoff point should be moved to the
same kind
3. Reduce the blocks according to three basic forms

Examples:

Moving pickoff point

G1

H2
G3

G2

G4

H3
H1
Example 2.17

G1

1
G4

H2
G3

G2
H1

H3

G4

Moving summing point

G3

Move to the same kind

G1

G2
H1
Example 2.18

G3
G1

G2
G1

H1

Disassembling the
actions

G4
G1

G2

G3
H3

H1
G4
G1

Example 2.19

G2

G3

H1

H3

H1

H3

Chapter 2 mathematical models of systems

2.7 Signal-Flow Graph Models
Block diagram reduction is not convenient to a complicated
system.
Signal-Flow graph is a very available approach to determine
the relationship between the input and output variables of a system, only needing a Masons formula without the complex reduction procedures.
2.7.1 Signal-Flow Graph
only utilize two graphical symbols for describing the relationship between system variables
Nodes, representing the signals or variables.
G

Branches, representing the relationship and gain

Between two variables.

2.7 Signal-Flow Graph Models

Example 2.20:
f

x1 ax0 bx1 cx2

x2 dx1 ex3
x3 fx0 gx2
x4 hx 3

x0

a x1

x3 h

x2 g

x4

2.7.2 some terms of Signal-Flow Graph

Path a branch or a continuous sequence of branches traversing
from one node to another node.
Path gain the product of all branch gains along the path.

2.7 Signal-Flow Graph Models

Loop a closed path that originates and terminates on the
same node, and along the path no node is met twice.

Loop gain the product of all branch gains along the loop.
Touching loops more than one loops sharing one or more
common nodes.
Non-touching loops more than one loops they do not have a
common node.

2.7.3 Masons gain formula

G( s)

C ( s)

R( s )

Pk k

k 1

1 L1 L2 L3

2.7 Signal-Flow Graph Models

m

G( s)

C ( s)

R( s )

Pk k

k 1

1 L1 L2 L3

pk k-th forward path gain

k cofactor of pk : make the b ranch gains, which
touch the k-th forward path, are zero in .

L1 sum of all different loop gains.

L2 sum of the gain products of all combinat ion of
2 non-touching loops.

L3

sum of th e gain products of all combina tion of

3 non-touching loops.

2.7 Signal-Flow Graph Models

Example 2.21
x0

f
x1

c
d

x2

b
m

G( s)

x3

x4

1 (b cd ge ) (bge )
P1 adgh
1 1

Pk k

C ( s ) k 1

R( s )

1 L1 L2 L3

P2 fh ;

2 1 (b cd )

x4 adgh fh(1 b cd )
G

x0
1 b cd ge bge

2.7 Signal-Flow Graph Models

2.7.4 Portray Signal-Flow Graph based on Block Diagram
Graphical symbol comparison between the signal-flow graph
and block diagram:
Block diagram

Signal-flow graph

and

G(s)

G(s)

2.7 Signal-Flow Graph Models

Example 2.22
R(s) E(s)

G1

H1

X1

G2

X2

G3

X3

G4

H2
H3

R(s)

E(s) G1

X1

G2

H2
H3

X2

G3

H1
X3 G4 C(s)

C(s)

2.7 Signal-Flow Graph Models

H1
R(s)

E(s) G1

X 1 G2

X2

G3

G4

X3

C(s)

H2
H3

1 (G1G2G3G4 H 3 G2G3 H 2 G3G4 H 1 )

P1 G1G2G3G4 ;

1 1

G1G2G3G4
C ( s)
G

R( s ) 1 G1G2G3G4 H 3 G2G3 H 2 G3G4 H 1

2.7 Signal-Flow Graph Models

Example 2.23
R(s)

X1

E(s)

X
2

R(s) 1

E(s)

-1
1

X1

Y1

G1

+
+
G2

Y2

G1

-1

Y1

-1

X2

-1

C(s)

G2

-1

Y2

1
1

C(s)

2.7 Signal-Flow Graph Models

R(s) 1

E(s)

-1
1

-1

-1

C(s)

-1

-1

7 loops:
[G1 ( 1)];

[G2 ( 1)];

[G1 ( 1) G2 1];

[( 1) G1 ( 1) G2 1 ( 1)]; [1 G2 1 ( 1)];

[( 1) G1 1 ( 1)];
[1 G2 1 G1 1 ( 1)].

3 2 non-touching loops :
[G1 ( 1)] [G2 ( 1)];

[( 1) G1 1 ( 1)] [G2 ( 1)];

[1 G2 1 ( 1)] [G1 ( 1)].

2.7 Signal-Flow Graph Models

R(s) 1

E(s)

-1
1

X
1

-1
G
1

-1

-1
Then:

Y
1

C(s)

-1

1 2G 2 4G1G 2

p1 ( 1) G1 1
p2 ( 1) G1 ( 1) G2 1
p3 1 G 2 1

4 forward paths:

p4 1 G2 1 G1 1

1 1 G2
2 1
3 1 G1

4 1

2.7 Signal-Flow Graph Models

We have

C ( s)
G( s)
R( s )
pk k

G2 G1 2G1G2

1 2G2 4G1G2