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MATLAB Applications No. (3)

Signal Flow Graphs

 Objective:
The objective of this application is to obtain the overall
transfer function of a systems using Signal Flow Graphs.

 Signal Flow Graphs:

The block diagrams are adequate for the representation of

the interrelationships of controlled and input variables.
However, for a system with reasonably complex
interrelationships, the block diagram reduction procedure is
cumbersome and often quite difficult to complete.
A signal-flow graph may be regarded as a simplified version
of a block diagram, which provides the relation between
system variables without requiring any reduction procedure
or manipulation of the flow graph.
The signal-flow graph for the cause-and-effect
representation of linear systems that are modeled by
algebraic equations. Besides the differences in the physical
appearance of the signal-flow graph and the block diagram,
the signal-flow graph is constrained by more rigid
mathematical rules, whereas the block-diagram notation is
more liberal. A signal-flow graph may be defined as a
graphical means of portraying the input-output relationships
among the variables of a set of linear algebraic equations.

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The transfer function the output variable Y (s) to the input

variable R ( s ) of a system represented by a signal flow graph
is:
Y ( s ) ∑ Pk ∆ k
T ( s )= =
R( s) ∆

Where: Pk the k th forward path gain.

∆ k the value of the Δ for that part of the graph not touching

the k th forward path.

Δ=1−
[ ∑ of loop
gains of all
indivisialloops ][
+
∑ of gain productsof all
possible combination
of two non touching loops ][
−
∑ of gain productsof all
possible combination
of three nontouching loops ][
+
∑ of gain productsof a
possible combination
of four non touching loo

Example 4.1: Determine the closed loop transfer function for

the signal flow graph in Figure 4.1.

Figure 4.1: Signal flow graph for Example 4.1.

Solution:
From the signal flow graph in Figure 4.1, we have:
(4.1
)
E ( s )=R ( s )+ B ( s )

(4.2
)
B ( s )=−H ( s ) Y ( s )

(4.3
)
Y ( s )=G ( s ) E(s)

The equations (4.1, 4.2, and 4.3) can be rewritten as:

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[ ]
E B Y R
1 −1 0 −1
0 1 H 0
−G 0 1 0

>> % To determine the closed loop transfer function of the SFG for
Example 4.1%
>> syms G H
>> M=[1 -1 0 -1;1 0 H 0;0 -G 1 0];
>> N=rref(M);
>> T=-N(3,4); % T=Y(s)/R(s) %
>> pretty(T)
G
------------
1+ G H

Example 4.2: A control system has a signal flow graph as

shown in Figure 4.2. Find the Y (s)/ R ( s ).

Figure 4.2: Signal flow graph of multiple loop system for Example
4.2.
Solution:
From the signal flow graph in Figure 4.2, we have:
(4.4
)
E1 ( s )=R ( s ) −H 2 ( s ) Y ( s )

Y ( s )=G2 ( s ) E2 ( s ) (4.5

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)
(4.6
)
E2 ( s )=G1 ( s ) E1 ( s )−H 1 ( s ) Y ( s )

The equations (4.4, 4.5, and 4.6) can be rewritten as:

[ ]
E1 Y E2 R
1 H2 0 −1
0 1 −G2 0
−G1 H 1 1 0

>> % To determine the Y(s)/R(s) for the SFG in Example 4.2%

>> syms G1 G2 H1 H2
>> M=[1 H2 0 -1;0 1 -G2 0;-G1 H1 1 0];
>> N=rref(M);
>> T=-N(2,4); % T=Y(s)/R(s) %
>> pretty(T)
G1 G2
------------------------------
1 +G2 H1 + G1 G2 H2

Example 4.3: Consider the interacting system has signal

flow graph given in Figure 4.3. Use MATLAB to determine
Y 1 (s)/ R1 (s), Y 1 (s)/ R2 (s), Y 2 (s)/ R1 (s), and Y 2 (s)/ R2 (s).

Figure 4.3: Signal flow graph of interacting system.

Solution:

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From the signal flow graph in Figure 4.3, we have:

E1 (s)= R1 (s)− H 1 (s)Y 1(s) (4.7)
Y 1 (s)=G2 (s)E 2 (s ) (4.8)
E2 (s)=G1 (s)E 1 (s) +G3 (s)E 3 (s ) (4.9)
E3 (s)= R2 (s)− H 2 (s)Y 2(s) (4.10
)
Y 2 (s)=G6 (s) E4 (s) (4.11
)
E 4 (s )=G4 ( s ) E2 ( s ) +G5 (s ) E 3(s) (4.12
)
The equations (4.7 to 4.12) can be rewritten as:

[ ]
E1 Y 1 E2 E3 Y 2 E 4 R 1 R2
1 H1 0 0 0 0 −1 0
0 1 −G2 0 0 0 0 0
−G2 0 1 −G3 0 0 0 0
0 0 0 1 H2 0 0 −1
0 0 0 0 1 −G6 0 0
0 0 −G 4 −G5 0 1 0 0

>> syms G1 G2 G3 G4 G5 G6 H1 H2
>> M=[1 H1 0 0 0 0 -1 0
0 1 -G2 0 0 0 0 0
-G1 0 1 -G3 0 0 0 0
0 0 0 1 H2 0 0 -1
0 0 0 0 1 -G6 0 0
0 0 -G4 -G5 0 1 0 0];
>> N=rref(M);
>> % To determine the transfer function Y1(s)/R1(s) %
>> T11=-N(2,7);
>> pretty(T11)

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G1 G2 + G1 G2 G5 G6 H2
--------------------------------------------------------------------------------
1+ G1 G2 H1 + G5 G6 H2 + G3 G4 G6 H2 + G1 G2 G5 G6 H1 H2
>> % To determine the transfer function Y1(s)/R2(s) %
>> T12=-N(2,8);
>> pretty(T12)
G2 G3
---------------------------------------------------------------------------------
1+G1 G2 H1 + G5 G6 H2 + G3 G4 G6 H2 + G1 G2 G5 G6 H1 H2
>> % To determine the transfer function Y2(s)/R1(s) %
>> T21=-N(5,7);
>> pretty(T21)
G1 G4 G6
---------------------------------------------------------------------------------
1+ G1 G2 H1 + G5 G6 H2 + G3 G4 G6 H2 + G1 G2 G5 G6 H1 H2

>> % To determine the transfer function Y2(s)/R2(s) %

>> T22=-N(5,8);
>> pretty(T22)
G5 G6 + G3 G4 G6 + G1 G2 G5 G6 H1
---------------------------------------------------------------------------------
1+G1 G2 H1 + G5 G6 H2 + G3 G4 G6 H2 + G1 G2 G5 G6 H1 H2

Example 4.4: To exploit the strength advantage of robot

manipulators and the intellectual advantage of humans, a
class of manipulators called extenders has been examined.
The extender is defined as an active manipulator worn by a
human to augment the human’s strength. The human
provides as in input U ( s), as shown in Figure 4.4. The
endpoint of the extenders is P(s). Perform the following
using MATLAB:
1. Determine the output P(s) for both U ( s) and F (s ) in the
form:

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P ( s )=T 1 ( s ) U ( s ) +T 2 ( s ) F ( s )

2. Repeat part (1) if: G1 ( s )=4 /( s+ 2)( s+ 3) , Gc ( s )=( s+ 0.5)/s ,

G ( s )=2/(s (s+1)), K ( s)=10 , H (s)=1 , E( s)=1/(s +1), B (s )=1/s .

Figure 4.4: Model of extender.

Solution:
From the signal flow graph in Figure 4.4, we have:

(4.13
)
E1 ( s )=U ( s ) −H ( s ) P( s)

(4.14
)
E2 ( s )=F ( s )−E ( s ) P(s)

(4.15
)
P ( s )=G ( s ) E1 ( s )+ K ( s ) G1 ( s ) E 3 ( s ) +Gc (s) E2 (s )

(4.16
)
E3 ( s )=B ( s ) E1 ( s )+ E 2 (s )

The equations (4.13 to 4.16) can be rewritten as:

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[ ]
E1 E2 P E3 U F
1 0 H 0 −1 0
0 1 E 0 0 −1
−G −Gc 1 −K G1 0 0
−B −1 0 1 0 0

>> syms H E G Gc G1 K B
>> M=[1 0 H 0 -1 0;0 1 E 0 0 -1;-G -Gc 1 -K*G1 0 0;-B -1 0 1 0 0];
>> N=rref(M);
>> % To determine the transfer function P(s)/U(s) %
>> TPU=-N(3,5);
>> pretty(T)
G + B G1 K
----------------------------------------------
1+ E Gc + G H + E G1 K + B G1 H K
>> % To determine the transfer function P(s)/F(s) %
>> TPF=-N(3,6);
>> pretty(T)
Gc + G1 K
----------------------------------------------
1+E Gc + G H + E G1 K + B G1 H K

>> % To Repeat part (1) if: G1(s)=4/(s+2)*(s+3), Gc(s)=(s+0.5)/s... %

>> % G(s)=2/(s*(s+1)), K(s)=10, H(s)=1, E(s)= 1/(s+1), B(s)=1/s %
>> syms s
>> G1=4/((s+2)*(s+3));
>>Gc=(s+0.5)/s;G=2/(s*(s+1));
>> K=10;H=1;E=1/(s+1);B=1/s;
>> M=[1 0 H 0 -1 0;0 1 E 0 0 -1;

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-G -Gc 1 -K*G1 0 0;
-B -1 0 1 0 0];
>> N=rref(M);
>> % To determine the transfer function P(s)/U(s) %
>> T=-N(3,5);
>> pretty(T)
4 s2+ 100 s + 104
------------------------------------------
2 s4+ 14 s3+ 37 s2+ 209 s + 110
>> % To determine the transfer function P(s)/U(s) %
>> T=-N(3,6);
>> pretty(T)
2 s4+ 13 s3+ 108 s2+ 103 s + 6
------------------------------------------
2 s4+ 14 s3+ 37 s2+ 209 s + 110

Example 4.5: Find the overall transfer function Y (s)/ R ( s )that

is equivalent to the system shown in Figure 4.5 using the
connect command.

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Figure 4.5: A multi loop feedback control system.

Solution:
>> % To determine the closed loop transfer function of the SFG for
Example 4.5%
>> s=tf('s');G1=s;G2=2*s;G3=G2;G4=G1;G5=1/(s+1);
>>H1=s^0;H2=4*s^0;H3=H1;H4=H3;
>>G1.inputname='E1';G1.outputname='A';
>>G2.inputname='E1';G2.outputname='B';
>>G3.inputname='E1';G3.outputname='E';
>>G4.inputname='E2';G4.outputname='C';
>>G5.inputname='E3';G5.outputname='Y';
>>H1.inputname='C';H1.outputname='D';
>>H2.inputname='Y';H2.outputname='F';
>>H3.inputname='Y';H3.outputname='G';
>>H4.inputname='Y';H4.outputname='H';
>>sum1=sumblk('E1','R','H','+-'); sum2=sumblk('E2','A','B','D','++-');
>>sum3=sumblk('E3','C','E4','H','++-'); sum4=sumblk('E4','E','F','+-');
>>T=mineral(connect(G1,G2,G3,G4,G5,H1,H2,H3,H4,sum1,sum2,sum
3,sum4,'R','Y'))
0.8333 s^2 + 0.3333 s
-------------------------------
s^2 + 1.5 s + 1

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Homework 4.1: Consider the signal flow graph in Figure

4.6. Use MATLAB to find the transfer function Y (s)/ R(s).

Figure 4.6: Multiple loop system.

-------------------------------------------------------------------------------------------
-
Homework 4.2: Find the transfer function Y (s)/ R ( s )using
MATLAB for the idle - speed control system for a fuel -
injected engine as shown in Figure 4.7.

Figure 4.7: Idle speed control system.

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Homework 4.3: A system consists of two electric motors

that are coupled by a continuous flexible belt. The belt also
passes over a swinging arm that is instrumented to allow
measurement of the belt speed and tension. The basic
control problem is to regulate the belt speed and tension by
varying the motor torques.
An example of a practical system similar to that shown
occurs in textile fiber manufacturing processes when yarn is
wound from one spool to another at high speed. Between
the two spools, the yarn is processed in a way that may
require the yarn speed and tension to be controlled within
defined limits. A model of the system is shown in Figure 4.8.
Find Y 2 (s)/ R1 (s)and Y 1 (s)/ R2 (s)using MATLAB.

Figure 4.8: A model of the coupled motor drives.

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Khaled Mustafa Mahmoud Session: Spring 2020/2021