Signal Flow Graph

Jun 25, 2024 1

 Introduction

• An Alternative method to block diagram representation,

developed by Samuel Jefferson Mason.

• A signal-flow graph consists of a network in which nodes

are connected by directed branches.

• It depicts the flow of signals from one point of a system to

another and gives the relationships among the signals.

Jun 25, 2024 2

 Fundamentals of Signal Flow Graphs
• Consider a simple equation below and draw its signal flow
graph: y  ax
• The signal flow graph of the equation is shown below;
a y
x
• Every variable in a signal flow graph is designed by a
Node.
• Every transmission function in a signal flow graph is
designed by a Branch.
• Branches are always unidirectional.
• The arrow in the branch denotes the direction of the
signal flow.

Jun 25, 2024 3

 Signal-Flow Graph Models

Y1( s ) G11( s )  R1( s )  G12( s )  R2( s )

Y2( s ) G21( s )  R1( s )  G22( s )  R2( s )

Jun 25, 2024 4

 Signal-Flow Graph Models
r1 and r2 are inputs and x1 and x2 are outputs
a11 x1  a12 x2  r1 x1

a21 x1  a22 x2  r2 x2

Jun 25, 2024 5

 Signal-Flow Graph Models

xo is input and x4 is output

f
x1  ax0  bx1  cx2 c
x0
x2  dx1  ex3 a x1 d x2 g x3 h x4

x3  fx0  gx2
b e
x4  hx 3

Jun 25, 2024 6

 Terminologies
• An input node or source contain only the outgoing branches. i.e., X1

• An output node or sink contain only the incoming branches. i.e., X4

• A path is a continuous, unidirectional succession of branches along which no
node is passed more than ones. i.e.,
X1 to X2 to X3 to X4 X1 to X2 to X4 X2 to X3 to X4

• A forward path is a path from the input node to the output node. i.e.,
X1 to X2 to X3 to X4 , and X1 to X2 to X4 , are forward paths.
• A feedback path or feedback loop is a path which originates and terminates
on the same node. i.e.; X2 to X3 and back to X2 is a feedback path.

Jun 25, 2024 7

 Terminologies
• A self-loop is a feedback loop consisting of a single branch. i.e.; A33 is a self
loop.
• The gain of a branch is the transmission function of that branch.
• The path gain is the product of branch gains encountered in traversing a
path. i.e. the gain of forwards path X1 to X2 to X3 to X4 is A21A32A43
• The loop gain is the product of the branch gains of the loop. i.e., the loop
gain of the feedback loop from X2 to X3 and back to X2 is A32A23.
• Two loops, paths, or loop and a path are said to be non-touching if they
have no nodes in common.

Jun 25, 2024 8

Ex A:Consider the signal flow graph below and identify the following

a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths (loops).
e) Determine the loop gains of the feedback loops.
f) Determine the path gains of the forward paths.
g) Non-touching loops
Jun 25, 2024 9
 Cont.….

• There are two forward path gains;

Jun 25, 2024 10

 Cont.….
• There are four loops

Jun 25, 2024 11

 Cont.…..

• Nontouching loop gains;

Jun 25, 2024 12

Ex B:Consider the signal flow graph below and identify the following

a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths.
e) Self loop.
f) Determine the loop gains of the feedback loops.
g) Determine the path gains of the forward paths.

Jun 25, 2024 13

 (B) Input and output Nodes

a) Input node

b) Output node

Jun 25, 2024 14

 (c) Forward Paths

Jun 25, 2024 15

 (d) Feedback Paths or Loops

Jun 25, 2024 16

 (d) Feedback Paths or Loops

Jun 25, 2024 17

 (d) Feedback Paths or Loops

Jun 25, 2024 18

 (d) Feedback Paths or Loops

Jun 25, 2024 19

 (e) Self Loop(s)

Jun 25, 2024 20

 (f) Loop Gains of the Feedback Loops

Jun 25, 2024 21

 (g) Path Gains of the Forward Paths

Jun 25, 2024 22

 Mason’s Rule (Mason, 1953)

 The block diagram reduction technique requires

successive application of fundamental relationships in
order to arrive at the system transfer function.
 On the other hand, Mason’s rule for reducing a signal-
flow graph to a single transfer function requires the
application of one formula.
 The formula was derived by S. J. Mason when he related
the signal-flow graph to the simultaneous equations that
can be written from the graph.

Jun 25, 2024 23

 Mason’s Rule
 The transfer function, C(s)/R(s), of a system represented by a signal-
flow graph is;
n
 Pi  i
C( s ) i 1

R( s ) 
Where

n = number of forward paths.

Pi = the i th forward-path gain.
∆ = Determinant of the system
∆i = Determinant of the ith forward path

 ∆ is called the signal flow graph determinant or characteristic

function. Since ∆=0 is the system characteristic equation.

Jun 25, 2024 24

 Mason’s Rule

n
 Pi  i
C( s ) i 1

R( s ) 
∆ = 1- (sum of all individual loop gains) + (sum of the products of the gains
of all possible two loops that do not touch each other) – (sum of the
products of the gains of all possible three loops that do not touch each
other) + … and so forth with sums of higher number of non-touching loop
gains

∆i = value of Δ for the part of the block diagram that does not touch the i-th
forward path (Δi = 1 if there are no non-touching loops to the i-th path.)

Jun 25, 2024 25

 Systematic approach

1. Calculate forward path gain Pi for each forward

path i.
2. Calculate all loop transfer functions
3. Consider non-touching loops 2 at a time
4. Consider non-touching loops 3 at a time
5. etc
6. Calculate Δ from steps 2,3,4 and 5
7. Calculate Δi as portion of Δ not touching forward
path i

Jun 25, 2024 26

 Example # 1: Apply Mason’s Rule to calculate the transfer
function of the system represented by following Signal Flow
Graph

Therefore, C P11  P2  2

R 
There are three feedback loops

L1  G1G4 H1 , L2  G1G2G4 H 2 , L3  G1G3G4 H 2

Jun 25, 2024 27
 Cont.…..

There are no non-touching loops, therefore

∆ = 1- (sum of all individual loop gains)

  1  L1  L2  L3 

  1  G1G4 H 1  G1G2 G4 H 2  G1G3G4 H 2 

Jun 25, 2024 28

 Cont.….

Eliminate forward path-1

∆1 = 1- (sum of all individual loop gains)+...

∆1 = 1

Eliminate forward path-2

∆2 = 1- (sum of all individual loop gains)+...

∆2 = 1
Jun 25, 2024 29
Cont..

Jun 25, 2024 30

 Example # 2: Apply Mason’s Rule to calculate the transfer function of
the system represented by following Signal Flow Graph

P1

P2

1. Calculate forward path gains for each forward path.

P1  G1G2 G3G4 (path 1) and P2  G5G6G7 G8 (path 2)

2. Calculate all loop gains.

L1  G2 H 2 , L2  H 3G3 , L3  G6 H 6 , L4  G7 H 7

3. Consider two non-touching loops.

L 1L 3 L 1L 4
Jun 25, 2024
L 2L 4 L 2L 3 31
 Cont.….

4. Consider three non-touching loops.

None.

5. Calculate Δ from steps 2,3,4.

  1  L1  L2  L3  L4   L1 L3  L1 L4  L2 L3  L2 L4 

  1  G2 H 2  H 3G3  G6 H 6  G7 H 7  
G2 H 2G6 H 6  G2 H 2G7 H 7  H 3G3G6 H 6  H 3G3G7 H 7 

Jun 25, 2024 32

 Cont.….

Eliminate forward path-1

1  1  L3  L4 
1  1  G6 H 6  G7 H 7 

Eliminate forward path-2

 2  1  L1  L2 

 2  1  G2 H 2  G3 H 3 

Jun 25, 2024

33
 Cont.…

Y ( s ) P11  P2  2

R( s ) 

Y (s) G1G2G3G4 1  G6 H 6  G7 H 7   G5G6 G7 G8 1  G2 H 2  G3 H 3 


R( s ) 1  G2 H 2  H 3G3  G6 H 6  G7 H 7   G2 H 2 G6 H 6  G2 H 2 G7 H 7  H 3G3G6 H 6  H 3G3G7 H 7 

Jun 25, 2024 34

 Exercise

• 1. Find the transfer function, C(s)/R(s), for the signal-flow graph in

figure below.

Jun 25, 2024 35

 Exercise
2. Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph

Hint: There are three forward paths, therefore n=3.

3
 Pi  i
C( s ) i 1 P11  P2  2  P3  3
 
R( s )  
Jun 25, 2024 36
 Transforming BD to SFG Models
Example:-1
H1

R(s) E(s) X1 － X3 C(s)

G1 G2 G3 G4
－ X2
－
H2

H3

－ H1
R(s) 1 E(s) G1 X1 G2 X2 G3 X3 G4 C(s)

－ H2
－ H3
Jun 25, 2024 37
 Transforming BD to SFG Models
－ H1
R(s) 1 E(s) G1 X1 G2 X2 G3 G4 X3 1 C(s)

－ H2

－ H3

  1  (G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1 )

P1  G1G2G3G4 ; 1  1

C ( s) G1G2G3G4
G 
R( s ) 1  G1G2G3G4 H 3  G2G3 H 2  G3G4 H 1
Jun 25, 2024 38
Example:-2

－
－ X1 G1 Y1

R(s) + + C(s)
E(s)
－ － X +
2
G2
－ Y2

-1
X1 G1 Y1
-1
-1 1
R(s) 1 E(s) C(s)
1 1 1
X2 G2 Y2

-1
-1
Jun 25, 2024 39
 Example:-2
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 X2 1 Y2 1
G2

-1 -1

7 loops:
[G1  (  1)]; [G2  (  1)]; [G1  (  1)  G2  1]; [(  1)  G1  1  (  1)];
[(  1)  G1  (  1)  G2  1  (  1)]; [1  G2  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)].

Jun 25, 2024 40
 Example:-2
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 X2 1 Y2 1
G2

-1 -1

Then: Δ  1  2G 2  4G1G 2
4 forward paths:
p1  (  1)  G1  1 Δ1  1  G2
p2  (  1)  G1  (  1)  G2  1 Δ2  1
p3  1  G 2  1 Δ3  1  G1
p4  1  G2  1  G1  1 Δ4  1
Jun 25, 2024 41
 Example:-2

We have
C( s )  pk k

R( s ) 
G  G1  2G1G2
 2
1  2G2  4G1G2

Jun 25, 2024 42

 Exercise:
1. Determine the transfer function C/R for the block diagram below by
signal flow graph techniques.

2. Find the control ratio C/R for the system given below.

Jun 25, 2024 43

 Design Example #1

1
V1 ( s )  I1 ( s )  I1 ( s ) R
Cs
CsV1 ( s )  CsV2 ( s )  I1 ( s )
V2 ( s )  I 1 ( s ) R
Cs

Cs R

V1 (s ) I1 (s ) V2 (s )
Jun 25, 2024 44
 Design Example #2

F  M 1s 2 X 1  k1 ( X 1  X 2 ) 0  M 2 s 2 X 2  k1 ( X 2  X 1 )  k 2 X 2

Jun 25, 2024 45

 Design Example #1

Jun 25, 2024 46

 Design Example #1

Jun 25, 2024 47