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Lecture 07 Signal Flow Graph

The document discusses the concept of Signal Flow Graphs, detailing the roles of nodes and edges in representing signals and transfer functions. It explains the calculation of forward paths, loop gains, and the overall transfer function using the formula Δ = 1 - Σ(Loop gains) + Σ(Non-touching loop gains). Several examples illustrate the application of these concepts in analyzing control systems.

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10 views43 pages

Lecture 07 Signal Flow Graph

The document discusses the concept of Signal Flow Graphs, detailing the roles of nodes and edges in representing signals and transfer functions. It explains the calculation of forward paths, loop gains, and the overall transfer function using the formula Δ = 1 - Σ(Loop gains) + Σ(Non-touching loop gains). Several examples illustrate the application of these concepts in analyzing control systems.

Uploaded by

yadavanshikaraj
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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SIGNAL FLOW GRAPH

Signal Flow Graph

nodes: Nodes are used for signals, sumer, take − off point
edges: Transfer function

+ _ 𝐺(𝑠)
𝐶(𝑠)
𝑅(𝑠)

𝐻(𝑠)
negative sign to H(s) due to sumer - as it is getting subtracted
according to summer
SIGNAL FLOW GRAPH
𝐶(𝑠) ∑ 𝑇 ∆
=
𝑅(𝑠) ∆

𝑘: Number of forward paths

𝑇 : The kth forward gain.

∆: 1 – Σ Loop gains + Σ Non-touching loop gains taken two at a time - Σ Non-touching loop gains taken three at a time + …………

∆ : Formed by eliminating from ∆ those loop gains that touch the kth forward path.

𝐶(𝑠) 𝑇 Δ 𝐺
= =
𝑅(𝑠) ∆ 1 + 𝐺𝐻
Signal Flow Graph

nodes: Nodes are used for signals, sumer, take − off point
edges: Transfer function

+ _ 𝐺(𝑠)
𝐶(𝑠)
𝑅(𝑠)

𝐻(𝑠)
EXAMPLE-01 G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 H3

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 H3
T2 = G1G2G3G4G6G7

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 Loop-1 Gain = G2H1 H3


T2 = G1G2G3G4G6G7

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 Loop-1 Gain = G2H1 H3


T2 = G1G2G3G4G6G7 Loop-2 Gain = G4H2

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 Loop-1 Gain = G2H1 H3


T2 = G1G2G3G4G6G7 Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

T1 = G1G2G3G4G5G7 Loop-1 Gain = G2H1 H3


T2 = G1G2G3G4G6G7 Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
Loop-4 Gain = G4G6H3

G6
G1 G2 G3 G4 G5 G7
R(s) C(s)

H1 H2

H3
Non-touching loop two at-a-time
G6
G1 G2 G3 G4 G5 G7
R(s) C(s) Forward path gain
T1 = G1G2G3G4G5G7
H1 H2 T2 = G1G2G3G4G6G7

H3
Loop gain
Loop-1 Gain = G2H1
Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
Loop-4 Gain = G4G6H3

Non-touching loop gain


two at-a-time
(G2H1)(G4G6H3)
Non-touching loop two at-a-time
G6
G1 G2 G3 G4 G5 G7
R(s) C(s) Forward path gain
T1 = G1G2G3G4G5G7
H1 H2 T2 = G1G2G3G4G6G7

H3
Loop gain
G6 Loop-1 Gain = G2H1
G1 G2 G3 G4 G5 G7 Loop-2 Gain = G4H2
R(s) C(s) Loop-3 Gain = G4G5H3
Loop-4 Gain = G4G6H3
H1 H2
H3 Non-touching loop gain
two at-a-time
(G2H1)(G4G6H3)

(G2H1)(G4G5H3)
Non-touching loop two at-a-time
G6
G1 G2 G3 G4 G5 G7
R(s) C(s) Forward path gain
T1 = G1G2G3G4G5G7
H1 H2 T2 = G1G2G3G4G6G7

H3
Loop gain
G6 Loop-1 Gain = G2H1
G1 G2 G3 G4 G5 G7 Loop-2 Gain = G4H2
R(s) C(s) Loop-3 Gain = G4G5H3
Loop-4 Gain = G4G6H3
H1 H2
H3 Non-touching loop gain
G6 two at-a-time
G1 G2 G3 G4 G5 G7 (G2H1)(G4G6H3)
R(s) C(s)
(G2H1)(G4G5H3)
H1 H2
(G2H1)(G4H2)
H3
Forward path gain
Δ = 1 − Σ (Loop gains) + Σ (Non-touching loop gains taking two at a time)
T1 = G1G2G3G4G5G7
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) T2 = G1G2G3G4G6G7

Loop gain
Loop-1 Gain = G2H1
Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
Loop-4 Gain = G4G6H3

Non-touching loop gain


two at-a-time
(G2H1)(G4G6H3)

(G2H1)(G4G5H3)

(G2H1)(G4H2)
Forward path gain
Δ = 1 − Σ (Loop gains) + Σ (Non-touching loop gains taking two at a time)
T1 = G1G2G3G4G5G7
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) T2 = G1G2G3G4G6G7

G6 Loop gain
G1 G2 G3 G4 G5 G7 Loop-1 Gain = G2H1
R(s) C(s) Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
H1 H2 Loop-4 Gain = G4G6H3

H3
Non-touching loop gain
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) two at-a-time
(G2H1)(G4G6H3)

Δ1 = 1 (G2H1)(G4G5H3)

(G2H1)(G4H2)
Forward path gain
Δ = 1 − Σ (Loop gains) + Σ (Non-touching loop gains taking two at a time)
T1 = G1G2G3G4G5G7
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) T2 = G1G2G3G4G6G7

G6 Loop gain
G1 G2 G3 G4 G5 G7 Loop-1 Gain = G2H1
R(s) C(s) Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
H1 H2 Loop-4 Gain = G4G6H3

H3
Non-touching loop gain
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) two at-a-time
(G2H1)(G4G6H3)

Δ1 = 1 (G2H1)(G4G5H3)
Δ2 = 1
(G2H1)(G4H2)
Forward path gain
Δ = 1 − Σ (Loop gains) + Σ (Non-touching loop gains taking two at a time)
T1 = G1G2G3G4G5G7
Δ = 1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2) T2 = G1G2G3G4G6G7

G6 Loop gain
G1 G2 G3 G4 G5 G7 Loop-1 Gain = G2H1
R(s) C(s) Loop-2 Gain = G4H2
Loop-3 Gain = G4G5H3
H1 H2 Loop-4 Gain = G4G6H3

H3
Δ1 = 1 Non-touching loop gain
Δ2 = 1 two at-a-time
(G2H1)(G4G6H3)
𝑇 Δ +𝑇 Δ
𝐺 𝑠 =
Δ (G2H1)(G4G5H3)
G1G2G3G4G5G7 +G1G2G3G4G6G7
=
1 − (G2H1 + G4H2 + G4G5H3 + G4G6H3) + (G2G4G6H1H3 + G2G4G5H1H3 + G2G4H1H2)
(G2H1)(G4H2)
EXAMPLE-02 G4

+
R(s) +- +- G1 +- G2 G3 + C(s)

H2

H1

G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain


T1 = G1G2G3
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain


T1 = G1G2G3
T2 = G1G4
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain


T1 = G1G2G3 -G1G2G3
T2 = G1G4
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain


T1 = G1G2G3 -G1G2G3
T2 = G1G4 -G1G2H1
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain


T1 = G1G2G3 -G1G2G3
T2 = G1G4 -G1G2H1
-G2G3H2
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain


T1 = G1G2G3 -G1G2G3
T2 = G1G4 -G1G2H1
-G2G3H2
-G1G4
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain


T1 = G1G2G3 -G1G2G3
T2 = G1G4 -G1G2H1
-G2G3H2
-G1G4
-G4H2
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain Non-touching loops two at a time: NONE
T1 = G1G2G3 -G1G2G3 Δ = 1 − (-G1G2G3 - G1G2H1 - G2G3H2 - G1G4 - G4H2)
T2 = G1G4 -G1G2H1 = 1 + G1G2G3 + G1G2H1 + G2G3H2 + G1G4 + G4H2
-G2G3H2
-G1G4
-G4H2
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

Forward path gain Loop gain Non-touching loops two at a time: NONE
T1 = G1G2G3 -G1G2G3 Δ = 1 + G1G2G3 + G1G2H1 + G2G3H2 + G1G4 + G4H2
T2 = G1G4 -G1G2H1
-G2G3H2
-G1G4 All the loops are touching both the forward paths.
-G4H2
Δ1 = 1
Δ2 = 1
G4

R(s) 1 G1 G2 G3 C(s)

-H2
-H1

-1

T1 = G1G2G3 Δ1 = 1
Δ = 1 + G1G2G3 + G1G2H1 + G2G3H2 + G1G4 + G4H2
T2 = G1G4 Δ2 = 1

𝑇 Δ +𝑇 Δ G1G2G3 +G1G4
𝐺 𝑠 = =
Δ 1 + G1G2G3 + G1G2H1 + G2G3H2 + G1G4 + G4H2
EXAMPLE-03
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
Forward path gain
T1 = G1G2G3G4G5
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
Forward path gain Loop gain
T1 = G1G2G3G4G5 G2H1
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
Forward path gain Loop gain
T1 = G1G2G3G4G5 G2H1
G4H2
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
Forward path gain Loop gain
T1 = G1G2G3G4G5 G2H1
G4H2
G2G3G4G5G6G7G8
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3
Forward path gain Loop gain
T1 = G1G2G3G4G5 G2H1
G4H2
G2G3G4G5G6G7G8
G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop
Forward path gain Loop gain gain two at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3)
G4H2
G2G3G4G5G6G7G8
G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop
Forward path gain Loop gain gain two at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8
G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop
Forward path gain Loop gain gain two at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8 (G2H1)(G4H2)
G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop Non-touching Loop


Forward path gain Loop gain gain two at a time gain three at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3) (G2H1)(G7H3)(G4H2)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8 (G2H1)(G4H2)
G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop Non-touching Loop


Forward path gain Loop gain gain two at a time gain three at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3) (G2H1)(G7H3)(G4H2)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8 (G2H1)(G4H2)
G7H3
Δ = 1 − (G2H1 + G4H2 + G2G3G4G5G6G7G8 + G7H3) + (G2G7H1H3 + G4G7H2H3 +G2G4H1H2) − (G2G4G7H1H2H3)
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop Non-touching Loop


Forward path gain Loop gain gain two at a time gain three at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3) (G2H1)(G7H3)(G4H2)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8 (G2H1)(G4H2)
G7H3
Δ = 1 − (G2H1 + G4H2 + G2G3G4G5G6G7G8 + G7H3) + (G2G7H1H3 + G4G7H2H3 +G2G4H1H2) − (G2G4G7H1H2H3) Δ1 = 1 − G7H3
G1 G2 G3 G4 G5
R(s) C(s)

H1 H2
G6
G8 G7

H3 Non-touching Loop Non-touching Loop


Forward path gain Loop gain gain two at a time gain three at a time
T1 = G1G2G3G4G5 G2H1 (G2H1)(G7H3) (G2H1)(G7H3)(G4H2)
G4H2 (G4H2)(G7H3)
G2G3G4G5G6G7G8 (G2H1)(G4H2)
G7H3
Δ = 1 − (G2H1 + G4H2 + G2G3G4G5G6G7G8 + G7H3) + (G2G7H1H3 + G4G7H2H3 +G2G4H1H2) − (G2G4G7H1H2H3) Δ1 = 1 − G7H3
𝑇Δ G1G2G3G4G5(1 − G7H3)
𝐺 𝑠 = =
Δ 1 − G2H1 − G4H2 − G2G3G4G5G6G7G8 − G7H3 + G2G7H1H3 + G4G7H2H3 +G2G4H1H2 − G2G4G7H1H2H3

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