Chapter 5

System
Representation

- Signal Flow
Graphs
ADEEL ARIF
[email protected]
Signal Flow graphs (SFG) – S. J Mason (1953)

1. A SFG are alternatives to block diagram representation.

Signal Flow graphs (SFG) – S. J Mason (1953)

1. A SFG are alternatives to block diagram representation.

2. Once the SFG are plotted, using Mason’s rule the
transfer function of the system can be determined
Signal Flow graphs (SFG) – S. J Mason (1953)

1. A SFG are alternatives to block diagram representation.

2. Once the SFG are plotted, using Mason’s rule the
transfer function of the system can be determined
3. The technique is only applicable for linear systems
Signal Flow graphs (SFG) – S. J Mason (1953)

1. A SFG are alternatives to block diagram representation.

2. Once the SFG are plotted, using Mason’s rule the
transfer function of the system can be determined
3. The technique is only applicable for linear systems

Block diagram Signal flow graphs

Branches, which represent

Signals, summing junctions,
systems, and nodes, which
and pickoff points
represent signals
Signal Flow graphs (SFG) – S. J Mason (1953)
Block diagram Signal flow
representation graphs

1- Cascade case:
Signal Flow graphs (SFG) – S. J Mason (1953)
Block diagram Signal flow
representation graphs

2- Parallel case:
Signal Flow graphs (SFG) – S. J Mason (1953)
Block diagram Signal flow
representation graphs
3- Feedback case:
Representation
Block diagram Signal flow
representation graphs

Example 1
Representation
Block diagram Signal flow
representation graphs
Representation
Block diagram Signal flow
representation graphs
 1. Draw all the signal, including input and output as
nodes.
2. Connect all the nodes by means of forward
branches. If theses nodes are connected by means
of a subsystem, give those branch a gain equals to
the close loop ratio/forward T/F of the subsystem.
3. If the signals of the forward branches are connected
directly, give those branch a unity gain.

Steps for SFG 4. For feedback loops, break the loops into two
branches connected via node representing the
construction feedback signal.
5. The first branch (before the node) is equal to the
primary feedback ratio (T/F) and the latter to the
node is equal to -1 (representing the loop as a
feedback).
6. Simplify the branches, eliminate unnecessary nodes.
7. If the block diagram includes summing and take off
points, analyse the nature (Forward/Feedback) of
the loop and apply rules 2-6 accordingly.
Signal Flow graphs (SFG) – S. J Mason (1953)

But how to reduce the signal flow

graph to close loop transfer
function?
Signal Flow graphs (SFG) – S. J Mason (1953)

But how to reduce the signal flow

graph to close loop transfer
function?

Masons’ Rule
Signal Flow graphs (SFG) – S. J Mason (1953)

But how to reduce the signal flow

graph to close loop transfer
function? We need to
learn some

Masons’ Rule new terms

before we
proceed…
Mason’s Rule – Key terms
1- Path A continuous, unidirectional succession of branches
along which no node passes more than once.
Mason’s Rule – Key terms
1- Path A continuous, unidirectional succession of branches
along which no node passes more than once.
2- Source Node A node with all out-going
branches.
Mason’s Rule – Key terms
1- Path A continuous, unidirectional succession of branches
along which no node passes more than once.
2- Source Node A node with all out-going
branches.

3- Sink Node A node with all in-

coming branches.
Mason’s Rule – Key terms
1- Path A continuous, unidirectional succession of branches
along which no node passes more than once.
2- Source Node A node with all out-going
branches.

3- Sink Node A node with all in-

coming branches.

4- Forward Path A path originates from the

source node and terminates
at the sink node.
Mason’s Rule – Key terms
1- Path A continuous, unidirectional succession of branches
along which no node passes more than once.
2- Source Node A node with all out-going
branches.

3- Sink Node A node with all in-

coming branches.

4- Forward Path A path originates from the

source node and terminates
at the sink node.
5- Feedback Path
A path originates and terminates on the same
node.
Mason’s Rule – Key terms

6- Gain The transmission

function of that branch,
acting as a
multiplicative operator.
Mason’s Rule – Key terms

6- Gain The transmission

function of that branch,
acting as a
multiplicative operator.

7- Path gain The product of

(branch) gains
encountered in
traversing in a path
Mason’s Rule – Key terms
Now look at the post
8- Loop Gain
Mason’s Rule – Key terms
8- Forward path gain
The product of gains found by traversing a path from the input node to
the output node of the signal-flow graph in the direction of signal flow.
Mason’s Rule – Key terms
8- Forward path gain
The product of gains found by traversing a path from the input node to
the output node of the signal-flow graph in the direction of signal flow.
Mason’s Rule – Key terms
9- Loop Gain
The product of branch gains found by traversing a path that starts at a
node and ends at the same node, following the direction of the signal
flow, without passing through any other node more than once
Mason’s Rule – Key terms
9- Loop Gain
The product of branch gains found by traversing a path that starts at a
node and ends at the same node, following the direction of the signal
flow, without passing through any other node more than once
Mason’s Rule – Key terms
10- Non-touching loop gain
Loops that do not have any nodes in common are called non-touching
loops. It is the product of loop gains from non-touching loops taken
two, three, four, or more at a time.
Mason’s Rule – Key terms
10- Non-touching loop gain

Loop gains

L1 :
L2 :
L3 :
L4 :
Mason’s Rule – Key terms
10- Non-touching loop gain

Loop gains

L1 : NT- Loop gains (two at a time)

L2 :
L3 :
L4 :
Example 1:
Can you find out Forward path gains, Loop gains, non-touching loop gains for:
Example 1:
Forward path gains
T1 = G1(s) G2(s) G3(s) G4(s) G5(s)

Loop gains
L1 :
L2 :
L3 :
L4 : NT- Loop gains (two at a time)
NT- Loop gains (three at a time)
Example 2:
Can you find out Forward path gains, Loop gains, non-touching loop gains for:

Try this !
Example 2:

Forward path gains

T1 = G1(s) G2(s) G3(s) G4(s) G5(s) G7(s)
T2 = G1(s) G2(s) G3(s) G4(s) G6(s) G7(s)
Loop gains
NT- Loop gains (two at a time)
L1 :
L1 & L2 :
L2 :
L1 & L3 :
L3 :
L1 & L4 :
L4 :
Mason’s (Gain)
Rule
Mason’s (Gain) Rule
Example 1:
Forward path gains
T1 = G1(s) G2(s) G3(s) G4(s) G5(s)

Loop gains
L1 :
L2 :
L3 :
L4 : NT- Loop gains (two at a time)
NT- Loop gains (three at a time)
Example 1:
∆ = 𝟏𝟏 − 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 + 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒕𝒕𝒕𝒕 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
− 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
Example 1:
∆ = 𝟏𝟏 − 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 + 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒕𝒕𝒕𝒕 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
− 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
Example 1:
∆ = 𝟏𝟏 − 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 + 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒕𝒕𝒕𝒕 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
− 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕

We form ∆k by eliminating from ∆ the loop gains that touch the kth forward path:
Example 1:
∆ = 𝟏𝟏 − 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 + 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒕𝒕𝒕𝒕 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕
− 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 𝒕𝒕𝒉𝒉𝒉𝒉𝒉𝒉𝒉𝒉 𝒂𝒂𝒂𝒂 𝒂𝒂 𝒕𝒕𝒕𝒕𝒕𝒕𝒕𝒕

We form ∆k by eliminating from ∆ the loop gains that touch the kth forward path:
Example 2:

Forward path gains

T1 = G1(s) G2(s) G3(s) G4(s) G5(s) G7(s)
T2 = G1(s) G2(s) G3(s) G4(s) G6(s) G7(s)
Loop gains
NT- Loop gains (two at a time)
L1 :
L1 & L2 :
L2 :
L1 & L3 :
L3 :
L1 & L4 :
L4 :
Example 2:
𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈
= 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠

𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈

= [𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+ 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ]
Example 2:
𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈
= 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠

𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈

= [𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+ 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ] (𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨𝑨 𝑺𝑺𝑺𝑺𝑺𝑺𝑺𝑺)

∆ = 𝟏𝟏 − 𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈 + [𝑺𝑺𝑺𝑺𝑺𝑺 𝒐𝒐𝒐𝒐 𝑵𝑵𝑵𝑵 𝒍𝒍𝒍𝒍𝒍𝒍𝒍𝒍 𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈𝒈]

∆ = 1 − 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+[𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ]
Example 2:
∆ = 1 − 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+[𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ]
Example 2:
∆ = 1 − 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+[𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ]

∆1 = 1 − 0 + 0 = 1 ∆2 = 1 − 0 + 0 = 1
Example 2:
∆ = 1 − 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠 + 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+[𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐻𝐻2 𝑠𝑠 + 𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺5 𝑠𝑠 𝐻𝐻3 𝑠𝑠
+𝐺𝐺2 𝑠𝑠 𝐻𝐻1 𝑠𝑠 𝐺𝐺4 𝑠𝑠 𝐺𝐺6 𝑠𝑠 𝐻𝐻3 𝑠𝑠 ]

∆1 = 1 − 0 + 0 = 1 ∆2 = 1 − 0 + 0 = 1

𝐶𝐶(𝑠𝑠) 𝑇𝑇1∆1 + 𝑇𝑇2∆2

=
𝑅𝑅(𝑠𝑠) ∆
G1(s) G2(s) G3(s) G4(s) G5(s) G7(s) +
𝐶𝐶(𝑠𝑠) G1(s) G2(s) G3(s) G4(s) G6(s) G7(s)
=
𝑅𝑅(𝑠𝑠) ∆
 1. Draw the Signal flow graph if not provided.
2. Trace out the number of Forward paths. Write
equations for forward path gains.
3. Identify the feedback loops and write equations
for loop gains.
Steps for 4. Identify the non-touching loops (for two, three… at
Mason’s a time) and write the equation for non-touching
loop gains.
rule 5. By using the gains, calculate the value of ∆.
6. Find the values of ∆1, ∆2, ∆3 … by eliminating the
terms involving the gains from ∆, which overlap
the traced forward paths.
7. Substitute all the terms in Mason’s formula and
simplify wherever possible.
Example 3: Class practice (12 min)
For the block diagram below:
A- Draw the Signal flow graph
B- Find C(s) / R(s) using Mason’s rule.
Example 3: Class practice (12 min)
A- Draw the Signal flow graph
Example 3: Class practice (12 min)
A- Draw the Signal flow graph

B- Find C(s) / R(s) using Mason’s rule.

Practice problems (Homework)

Feedback Control System,

Schaum’s Outline
Problem # 8.16, 8.18
(page # 201-202)
Recommended reading (not included in course)

Signal-Flow Graphs of State Equations

Control System Engineering, Norman S. Nise
(page # 254-257)
End