B.E.
, EEE, Semester 4, AY 2023-2024
22UEE402: Control Engineering
Unit I – Systems and Modelling
Signal Flow Graph
Dr. C. Vivekanandan,
Professor, EEE
Flow of PPT
• What is Signal Flow Graph (SFG)?
• Definitions of terms used in SFG
• Rules for drawing of SFG
• Mason’s Gain formula
• SFG from simultaneous eqns
• SFG from differential eqns
• Examples
• Solution of a problem by Block diagram reduction
technique and SFG
• SFG from a given Transfer function
• Examples
What is Signal Flow Graph?
SFG is a diagram which represents a set of
simultaneous equations.
This method was developed by [Link]. This method
does n’t require any reduction technique.
It consists of nodes and these nodes are connected by a
directed line called branches.
Every branch has an arrow which represents the flow of
signal.
For complicated systems, when Block Diagram (BD) reduction
method becomes tedious and time consuming then SFG
is a good choice.
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
be redrawn. That’s why it is tedious method.
Only one time SFG is to be drawn and
So wastage of time and space.
then Mason’s gain formula is to be
evaluated.
So time and space is saved.
SFG
Definition of terms required in SFG
Node: It is a point representing a variable.
x2 = t 12 x1 +t32 x3
X3
X1 X2
t12
t32
In this SFG there are 3 nodes.
Branch : A line joining two nodes.
X1 X2
Input Node : Node which has only outgoing branches.
X1 is input node.
Output node/ sink node: Only incoming branches.
Mixed nodes: Has both incoming and outgoing branches.
Transmittance : It is the gain between two nodes. It is generally
written on the branch near the arrow.
t12 t23 t34
X4
X1 X2 X3
t43
• Path : It is the traversal of connected branches in the direction
of branch arrows, such that no node is traversed more than once.
• Forward path : A path which originates from the input node
and terminates at the output node and along which no node
is traversed more than once.
• Forward Path gain : It is the product of branch transmittances
of a forward path.
P 1 = G1 G2 G3 G4, P 2 = G5 G6 G7 G8
Loop : Path that originates and terminates at the same node
and along which no other node is traversed more than once.
Self loop: Path that originates and terminates at the same
node.
Loop gain: it is the product of branch transmittances of a
loop.
Non-touching loops: Loops that don’t have any common node
or branch.
L 1 = G2 H2 L 2 = H3
L3= G7 H7
Non-touching loops are L1 & L2, L1
& L3, L2 &L3
SFG terms representation
input node (source)
branch transmittance
mixed node x4
mixed node
node
x1 a b path x3
1
d
x3
forw2x ard pathc
loop
input node (source)
Rules for drawing of SFG from
Block diagram
• All variables, summing points and take off points are
represented by nodes.
• If a summing point is placed before a take off point in the
direction of signal flow, in such a case the summing point
and take off point shall be represented by a single node.
• If a summing point is placed after a take off point in the
direction of signal flow, in such a case the summing point
and take off point shall be represented by separate nodes
connected by a branch having transmittance unity.
Mason’s Gain Formula
• A technique to reduce a signal-flow graph to a single transfer
function requires the application of one formula.
• The transfer function, C(s)/R(s), of a system represented by a
signal-flow graph is
k = number of forward path
Pk = the kth forward path 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)+ so
on .
∆ k = 1 – (loop-gain which does not touch the forward path)
Ex: SFG from Block Diagram
Ex: To find T/F of the given block
diagram
Identification of Forward Paths
P 1 = 1.1.G1 .G 2 . G3. 1
= G1 G2 G3
P 2 = 1.1.G 2 . G 3 . 1
= G 2 G3
Individual Loops
L 1 = G 1G 2 H 1 L 2 = - G 2G 3 H 2
L 3 = - G 4H 2
L4 =-G1G4
L5 =-G1G2 G3
Construction of SFG from
simultaneous equations
𝑦 2=𝑡 21 𝑦 1 +𝑡 23 𝑦 3
𝑦 3=𝑡 32 𝑦 2+ 𝑡 33 𝑦 3 +𝑡 31 𝑦 1
𝑦 4 =𝑡 43 𝑦 3+ 𝑡 42 𝑦 2
𝑦 5=𝑡 54 𝑦 4
𝑦 6=𝑡 65 𝑦 51 + 𝑡 64 𝑦 4
𝑦 2=𝑡 21 𝑦 1 +𝑡 23 𝑦 3
t21 t 23
𝑦 3=𝑡 32 𝑦 2+ 𝑡 33 + 𝑦 3 +𝑡 31 𝑦 1
t31
t32
t33
𝑦 4 =𝑡 43 𝑦 3+ 𝑡 42 𝑦 2
𝑦 5=𝑡 54 𝑦 4
𝑦 6=𝑡 65 𝑦 51 + 𝑡 64 𝑦 4
