Control Systems

Subject Code: BEC-26 Third Year ECE

Unit-I
Shadab A. Siddique Maj. G. S. Tripathi
Assistant Professor Associate Professor

Lecture 7
Department of Electronics & Communication Engineering,
Madan Mohan Malaviya University of Technology, Gorakhpur 1
 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.

Mason’s Gain Formula:

• The transfer function, C(s)/R(s), of a system represented by a signal-flow graph is;
n
 Pi  i Where,
C( s ) i =1
= n = number of forward paths.
R( s ) 
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. 2
Shadab. A. Siddique Maj. G. S. Tripathi
 n
 P
C( s ) i =1 i i
=
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.)

Systematic approach for problems:

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

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Shadab. A. Siddique Maj. G. S. Tripathi
 Example#1: Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph

Solution:

There are two forward paths,

Therefore, C P11 + P2  2
=
R 
There are three feedback loops
L1 = G1G4 H1 , L2 = −G1G2 G4 H 2 , L3 = −G1G3G4 H 2

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 )
Eliminate forward path-1
∆1 = 1- (sum of all individual loop gains)+...
∆1 = 1 ∆2 = 1- (sum of all individual loop gains)+...
4
∆2 = 1
Shadab. A. Siddique Maj. G. S. Tripathi
 Example#1: Continue

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

P1

P2

Solution:
1. Calculate forward path gains for each forward path.
P1 = G1G2 G3G4 (path 1) and P2 = G5G6 G7 G8 (path 2)

2. Calculate all loop gains. L1 = G2 H 2 , L2 = H 3G3 , L3 = G6 H 6 , L4 = G75H 7

Shadab. A. Siddique Maj. G. S. Tripathi
 Example#2: Continue
3. Consider two non-touching loops.
L1L3 L1L4
L2L4 L2L3

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 2 G6 H 6 + G2 H 2 G7 H 7 + H 3G3G6 H 6 + H 3G3G7 H 7 )

Eliminate forward path-1 Eliminate forward path-2

 2 = 1 − (L1 + L2 )
1 = 1 − (L3 + L4 )
1 = 1 − (G6 H 6 + G7 H 7 )  2 = 1 − (G2 H 2 + G3 H 3 )

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Shadab. A. Siddique Maj. G. S. Tripathi
 Example#2: Continue
Y (s) P  + P2  2
= 1 1
R( s ) 
Y (s) G1G2G3G4 1 − (G6 H 6 + G7 H 7 ) + G5G6G7G8 1 − (G2 H 2 + G3 H 3 )
=
R( s ) 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 )

Example#3: Find the transfer function, C(s)/R(s), for the signal-flow graph in
figure below.

Solution:
• There is only one forward Path
P1 = G1( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )
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Shadab. A. Siddique Maj. G. S. Tripathi
 Example#3: Continue
• There are four feedback loops.

• Non-touching loops taken two at a time.

• Non-touching loops taken three at a time.

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Shadab. A. Siddique Maj. G. S. Tripathi
 Example#3: Continue

• Eliminate forward path-1

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Shadab. A. Siddique Maj. G. S. Tripathi
 Example#5: From Block Diagram to Signal-Flow Graph Models

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

 = 1 + (G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1 ) C ( s) G1G2G3G4

G= =
P1 = G1G2G3G4 ; 1 = 1 R( s ) 1 + G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1
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Shadab. A. Siddique Maj. G. S. Tripathi
Example#4: Find the control ratio C/R for the system given below.

Solution:
• The signal flow graph is shown in
the figure.

• The two forward path gains

are
• The five feedback loop gains
are
• There are no non-touching loops,
• All feedback loops touches the two hence
forward paths, hence
• Hence the control ratio

T= 11
Shadab. A. Siddique Maj. G. S. Tripathi
Example#6: Find the control ratio C/R for the system given below.

－
－ X1 Y1
G1
R(s) + + C(s)
E(s)
－ －X +
2
G2
－ Y2

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

-1
-1

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S. A. Siddique Maj. G. S. Tripathi
 Example#6: Continue
7 loops:

3 ‘2 non-touching loops’ :

Then: Δ = 1 + 2G 2 + 4G1G 2

4 forward paths: p1 = ( − 1)  G1  1 Δ1 = 1 + G 2

p2 = ( − 1)  G1  ( − 1)  G 2  1 Δ2 = 1

p3 = 1  G 2  1 Δ3 = 1 + G1

p4 = 1  G 2  1  G1  1 Δ4 = 1

We have C( s )  pk k
=
R( s ) 
G2 − G1 + 2G1G2
=
1 + 2G2 + 4G1G2

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Shadab. A. Siddique Maj. G. S. Tripathi