Unit 2

MCB3013 Control System

Transfer function, Block diagram and Signal flow graph
Lec05: Objectives

At the end of the lecture, I should be able to:

Convert block diagrams to signal-flow diagrams

Find the transfer function of multiple subsystems
using Masons Rule
 Signal Flow Graph

System Signal Interconnection of System & Signal

The signal V(s): R1 (s)G1 (s) R2 (s)G2 (s) R3 (s)G3 (s)

The signal C2(s): V ( s)G5 ( s)
V (s)R1 (s)G1 (s) R2 (s)G2 (s) R3 (s)G3 (s)
Converting Common Block
Diagram to Signal Flow Graph
System in series/cascades:

G1 ( s) G2 ( s) G3 ( s)
R(s) C (s)
X 2 ( s) X 1 ( s)
Converting Common Block
Diagram to Signal Flow Graph
System in parallel:

G1 ( s)
X 1 ( s) 1
G2 ( s) 1
R(s) C (s)
X 2 ( s)
G3 ( s) 1

X 3 ( s)
Converting Common Block
Diagram to Signal Flow Graph
System in feedback:

1 G(s)
R(s) C (s)
E (s)
H (s)
Masons Rule

A technique for reducing signal-flow graphs to

single transfer functions
Loop gain: The product of
branch gains found by
traversing a path that starts at
a node and ends at the same
node, following the direction of
the signal flow, without passing 1.G2 (s) H1 (s)
through any other node more
than one. 2.G4 (s) H 2 (s)
3.G4 (s)G5 (s) H 3 (s)
4.G4 (s)G6 (s) H 3 (s)
Masons Rule

A technique for reducing signal-flow graphs to

single transfer functions
Forward-path gain: The
product of gains found by
traversing a path from input
node to the output node of the
signal-flow graph in the direction
of signal flow.
1.G1 (s)G2 (s)G3 (s)G4 (s)G5 (s)G7 (s)
2.G1 (s)G2 (s)G3 (s)G4 (s)G6 (s)G7 (s)
Masons Rule

A technique for reducing signal-flow graphs to

single transfer functions
Nontouching loops: Loop that do
not have any nodes in common.

Loop G2(s)H1(s) does not touch loop

G4(s)H2(s), G4(s)G5(s)H3(s) and G4(s)G6(s)H3(s)
Masons Rule

A technique for reducing signal-flow graphs to

single transfer functions
Nontouching-loop gain: The
product of loop gains from
nontouching loops taken two,
three, four or more at a time.

1.G2 (s) H1 (s)G4 (s) H 2 (s)

2.G2 (s) H1 (s)G4 (s)G5 (s) H 3 (s)
3.G2 (s) H1 (s)G4 (s)G6 (s) H 3 (s)
Masons Rule

A technique for reducing signal-flow graphs to

single transfer functions
C ( s ) k Tk k
G( s)
R( s )
Where;
k = number of forward path

Tk = the kth forward-path gain

= 1 - loop gains + nontouching-loop gains taken 2

at a time - nontouching-loop gains taken 3 at a time

k = - loop gain terms in that touch the kth forward

path
Example 8
Find the transfer function, C(s)/R(s).
Forward-path gain:
G1 (s)G2 (s)G3 (s)G4 (s)G5 (s)
Loop gain: 1.G2 ( s) H1 ( s)
2.G4 ( s) H 2 (s)
3.G7 ( s) H 4 ( s)
4.G2 ( s)G3 ( s)G4 ( s)G5 ( s)G6 (s)G7 ( s)G8 ( s)
Nontouching loops taken 2 at a time:
Loop 1 and loop 2 : G2 (s) H1 (s)G4 (s) H 2 (s)
Loop 1 and loop 3 : G2 (s) H1 (s)G7 (s) H 4 (s)
Loop 2 and loop 3 : G2 (s) H 2 (s)G7 (s) H 4 (s)
Nontouching loops taken 3 at a time:
Loop 1, 2 and 3 : G2 (s) H1 (s)G4 (s) H 2 (s)G7 (s) H 4 (s)
Example 8
Find the transfer function, C(s)/R(s).

We k by eliminating from the

loop gain that touch the kth forward
path: (in this example k = 1)

1 1 G7 (s) H 4 (s)
Thus;
T11
G( s)


G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )1 G7 ( s ) H 4 ( s )

Note: Since there is only one forward path, G(s) consists of only one
term rather than a sum of term.