Signal Flow Graphs

Objectives
• Introduction
• Definition
• What is Signal Flow Graph (SFG)?
• Definitions of terms used in SFG
• Rules for drawing of SFG
• Mason’s Gain formula
• Examples
 Introduction:
For complex control systems, the block diagram reduction technique is difficult. An alternative method for
determining the relationship between system variables has been developed by Samuel Jefferson Mason (1953)
and is based on a signal flow graph. The block diagram reduction technique requires successive application of
fundamental relationships (Cascade, Parallel) 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. A signal flow graph is a diagram that consists of nodes that are connected by branches. A node is
assigned to each variable of interest in the system, and branches are used to relate the different variables. The
main advantage for using SFG is that a straight forward procedure is available for finding the transfer function
in which it is not necessary to move pickoff point around or to redraw the system several times as with block
diagram manipulations. Moreover, Mason’s formula has several components that must be evaluated first.
Introduction:
• Signal-flow graphs are an alternative to block diagrams.
• Signal flow graphs are a pictorial representation of the simultaneous
equations describing a system.
• Signal flow graphs display the transmission of signals through the
system, as does the block diagrams, but it is easier to draw and easier
to manipulate than the block diagrams.
• Unlike block diagrams, which consist of blocks, signals, summing
junctions, and pickoff points, a signal-flow graph consists only of
branches, which represent systems, and nodes, which represent
signals.
Definition:

A signal-flow graph (SFG), also known as a Mason

graph, is a special type of block diagram and directed
graph, consisting of nodes and branches.
 Comparison of BD and SFG

block diagram: signal flow graph:

R (s ) C (s ) G(s)
G (s )
R(s) C (s)
In this case at each step block diagram is to Only one time SFG is to be drawn and
be redrawn. That’s why it is tedious method. then Mason’s gain formula is to be
So wastage of time and space. evaluated.
So time and space is saved.
 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.
Signal Flow Graph of Ohm’s Law:

• The Ohm’s law state that E = RI, where

E is a voltage,
I is a current, and
R is a resistance.

• The signal flow graph of the equation is given below;

 Signal Flow Graph Algebra:
1. The Addition Rule:

• The value of the variable designated by a node is equal to the sum of all signals entering the
node. This can be represented as;

• Example: The signal flow graph for the equation of a line in rectangular coordinates, Y = mX + b,
is given below. Since b is a constant it may be represent a node or a transmission function.
2. The Transmission Rule:

• The value of the variable designed by a node is transmitted on every branch leaving that
node.

• Example: The signal flow graph of the simultaneous equations, Y = 3X, and, Z = -4X,
is given in the figure below.
3. The Multiplication Rule:

• A cascaded or series connection of n-1 branches with transmission functions

, ,can be replace by a single branch with a new transmission
function equal to the product all transmission functions of n-1 branches. That is

• Example: The signal flow graph of the simultaneous equations Y = 10X, Z = -20Y,
is given in
Signal-Flow Graph Models

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

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

 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
Construction of SFG from simultaneous equations
t21 t 23

t31

t32
t33
After joining all SFG
 Signal-Flow Graph Models

xo is input and x4 is output

x1 = ax0 + bx1 + cx2 f

c
x2 = dx1 + ex3 x0 x1 x2 g x3 x4
a d h
x3 = fx0 + gx2
x4 = hx 3 b e
 Construct the signal flow graph for the following set of
simultaneous equations.

• There are four variables in the equations (i.e., x1,x2,x3,and x4) therefore four
nodes are required to construct the signal flow graph.
• Arrange these four nodes from left to right and connect them with the
associated branches.
 Definitions of terms used in SFG
• 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.
 Definitions of terms used in SFG
• 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.
Consider the signal flow graph below and identify the following

a) Input node. R(s)

b) Output node. C(s)
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
 Consider the signal flow graph below and identify the following

• There are two forward path gains;

 Consider the signal flow graph below and identify the following

• There are four loops

Consider the signal flow graph below and identify the following

• Non touching loop gains;

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.
Input and output Nodes

a) Input node

b) Output node
(c) Forward Paths
(d) Feedback Paths or Loops
(d) Feedback Paths or Loops
(d) Feedback Paths or Loops
(d) Feedback Paths or Loops
(e) Self Loop(s)
(f) Loop Gains of the Feedback Loops
(g) Path Gains of the Forward Paths