Signal Flow Graph

Chapter 4:

Nise, N. S. Control System Engineering

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Indian Institute of Information Technology - Allahabad

Indian Institute of Information Technology - Allahabad

Outlines
Basic Elements of Signal Flow Graph Basic Properties Definitions of Signal Flow Graph Terms Mason Theory Examples

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Signal-flow graph
From Wikipedia, the free encyclopedia

A signal-flow graph (SFG) is a special type of block diagram, constrained by rigid mathematical rules, that is a graphical means of showing the relations among the variables of a set of linear algebraic relations. Nodes represent variables, and are joined by branches that have assigned directions (indicated by arrows) and gains. A signal can transmit only in the direction of the arrow.

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Example 1 Simple amplifier

Figure 1: Simple SFG Amplification of a signal x1 to become a larger output y2 by an amplifier with gain a11 is described mathematically by: which becomes the signal flow graph of Figure 1. Although this equation is represented by the SFG of Figure 1, the algebraically equivalent relation

is not considered to be implied by Figure 1. That is, the SFG is unilateral, sometimes emphasized by calling x1 a "cause" and y1 an "effect", or by calling x1 an "input" and y1 an "output".
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Basic Elements of Signal Flow Graph

A Signal flow graph is a diagram consisting of

nodes that are connected by several directed branches.

branch

branch node

node

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Basic Elements of Signal Flow Graph

A node is used to represent a variable (inputs, outputs,

other signals) A branch shows the dependence of one variable ( node) on another variable (node)
Each branch has GAIN and DIRECTION A signal can transmit through a branch only in the

direction of the arrow If gain is not specified gain =1

G
A B

B =GA

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Example 2 Two-port network

Figure 2: Two-port SFG The two coupled equations below can represent the current-voltage relations in a two-port network:

which equations become the signal flow graph of Figure 2.

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Nodes
A node is used to represent a variable Source node (input node) All braches connected to the node are leaving the node Input signal is not affected by other signals Sink node (output node) All braches connected to the node are entering the node output signal is not affecting other signals

D
Source node

A X

B
Y

Sink node

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Relationship Between Variables

D
Source node

A
X

B
Y

C
Z (input)

Sink node

V Gain is not shown means gain=1

U X=AU+Y Y=BX Z=CY+DX V=Z

(output)

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Another Example
D
Source node

A X 3

Y C
Z K W H

Sink node

X=AU+Y Y=BX+KZ Z=CY+DX+HW W=3U V=Z

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Basic Properties
Signal flow graphs applies to linear systems only Nodes are used to represent variables A branch from node X to node Y means that Y depends on

X Value of the variable (node) is the sum of gain of branch * value of node Non-input node cannot be converted to an input node We can create an output node by connecting unit branch to any node

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Terminology: Paths
A path: is a branch or a continuous sequence of branches

that can be traversed from one node to another node

A B X

Y C Z V

3
W

K H
Z

U A X

Y C Z U 3 Paths from U to Z W H

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Terminology: Paths
A path: is a branch or a continuous sequence of branches

that can be traversed from one node to another node Forward path: path from a source to a sink Path gain: product of gains of the braches that make the path

A U X 3

Y C V K W

Z H

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Terminology: loop
A loop: is a closed path that originates and terminates on

the same node, and along the path no node is met twice. Nontouching loops: two loops are said to be nontouching if they do not have a common node.
B Y A U X 3 W K H B Y C X

Y C K

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Block Diagram vs Signal Flow Graph

( (

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An example

a11 x1 + a12 x2 + r1 = x1 a21 x1 + a22 x2 + r2 = x2

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An example
(1- a11 )x1 + (- a12 ) x2 = r1 ( - a21 ) x1 + (1- a22 )x2 = r2
This have the solution

x1= (1- a22 )/D r1 + a12 /D r2 x2= (1- a11 )/D r2 + a21 /D r1

D = 1 - a11 - a22 + a22 a11 - a12 a21

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D = 1 - a11 - a22 + a22 a11 - a12 a21

Self loops a11 , a22 , a12 a21
Product of non touching loops a22 a11

An example

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SGF : in general
The linear dependence (Tij) between the

independent variable xi (input) and the dependent variable (output) xj is given by Masons SF gain formula

Tij

P
k

ijk

D ijk

D Pijk k th path from x i to x j

D deterninant of the graph D ijk cofactorof the path Pijk

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The determinant D
D 1 Ln
n 1 N M ,Q m 1, q 1

Lq Lr Ls Lt ...

Or

Lq is the loop gain

D=1 (sum of all different loop gains) +(sum of the gain products of all combinations of 2 non-touching loops) -(sum of the gain products of all combinations of 3 non-touching loops)

The cofactor is the determinant with loops th path removed touching theD kijk
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Indian Institute of Information Technology - Allahabad

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Example
Determine the transfer function between V and U
A U B

Y C
Z

X 3 W K H

The number of forward paths from U to V = ? Path Gains ? Loops ? Determinant ? Cofactors ? Transfer function ?
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Example
Determine the transfer function between V and U

A U X 3

Y C Z K W H V

The number of forward paths from U to V = 2 Path Gains ABC, 3H Loop Gains B, CK Transfer function (ABC+3H-3HB)/(1-B-CK)

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Indian Institute of Information Technology - Allahabad

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Indian Institute of Information Technology - Allahabad

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An example

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An example:
Two paths :P1, P2 Four loops P1 = G1G2G3G4, P2= G5G6G7G8 L1=G2H2 L2=G3H3 L3=G6H6 L4=G7H7 D 1 - (L1+L2+L3+L4)+(L1L3+L1L4+L2L3+L2L4) Cofactor for path 1: D1= 1- (L3+L4)

Cofactor for path 2: D2= 1-(L1+L2)

T(s) = (P1D1 + P2D2)/D

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Another example

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 3 Paths
8 loops

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Figure 5.17
Signal-flow graph components: a. system; b. signal; c. interconnection of systems and signals

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.3 a. Cascaded subsystems; b. equivalent transfer function

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.5 a. Parallel subsystems; b. equivalent transfer function

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.6 a. Feedback control system; b. simplified model; c. equivalent transfer function

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.18
Building signal-flow graphs: a. cascaded system nodes (from Figure 5.3(a)); b. cascaded system signal-flow graph; c. parallel system nodes (from Figure 5.5(a)); d. parallel system signal-flow graph; e. feedback system nodes (from Figure 5.6(b)); f. feedback system signal-flow graph
2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.11 Block diagram

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.19 Signal-flow graph development: a. signal nodes; b. signal-flow graph; c. simplified signalflow graph

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.20 Signal-flow graph for demonstrating Masons rule

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Figure 5.21 Signal-flow graph for Example 5.7

2000, John Wiley & Sons, Inc. Nise/Control Systems Engineering, 3/e - Allahabad Indian Institute of Information Technology

Example 2 Two-port network

Figure 2: Two-port SFG The two coupled equations below can represent the current-voltage relations in a two-port network:

which equations become the signal flow graph of Figure 2.

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Keywords
Node Branch Path Loop Non-touching loops Loop gain Sink node Source node

Forward path Co-factor

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