By Eng. Omuzi H.

A signal flow graph is a graphical representation of the relationships between the variables of
the system. It is an alternative approach to block diagram representation.
A signal flow graph consists of:
Node: A point which represent signals of the system and are labelled with signal names.
Branch: A line which provides a path for the flow of signal from one node to another. They
represent system blocks and are labelled with system transfer functions.

Fig.1
Input node/Source node: Node with only outgoing branches.
Output node/Sink node: Node with only incoming branches.
Path: A traversal of connected branches as per the direction indicated by the arrow on the
branch such that no node is traversed more than once.

Fig. 2
Forward Path: A path connecting the input and the output node.
Forward path gain: Gain along any path from the input to the output
Fig. 2 has two forward paths with the following gains:

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
1. G1, G2, G3, G4
2. G1, G2, G5
Loop: A path which starts and ends at the same node.
Loop gain: Product of gains for each branch around a loop.
Fig. 2 has 3 loops with the following loop gains:
=−
=
=−
Non-touching loops: Loops without common nodes.
From Fig. 2,
− ℎ ℎ
− ℎ ℎ−
Non-touching loop gain: the product of loop gains from non‐touching loops, taken two, three,
four, or more at a time. From Fig. 2, the gain product of non-touching loops taken two at time is;
(− )×( )
(− )×−

Conversion of block diagrams to signal flow graphs

1. Identify and label all signals on the block diagram
2. Place a node for each signal
3. Connect nodes with branches in place of the blocks
 Maintain correct direction
 Label branches with corresponding transfer functions
 Negate transfer functions as necessary to indicate negative feedback
4. Simplify where possible
Check this link for more information on Rules for signal flow Graphs:
https://www.youtube.com/watch?v=okpIcaAvxRM
Example 1: Convert the following block diagram to a signal flow graph

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
 Identify and label all signals on the block diagram
 Place a node for each signal

 Connect nodes with branches, each representing a system block

Note that ‐1 indicates negative feedback of X2(s)

 To simplify the signal flow graph, nodes with a single input and single output can be
eliminated, where necessary (i.e. for the case of X1(s)and X2(s)). Signal U(s) is left out to
indicate separation between the controller and the plant.

Example 2: Convert the following block diagram to a signal flow graph

 Label all signals, then place a node for each

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
 Connect nodes with branches

 Simplify by eliminating X5(s), X6(s), X7(s).

Mason’s Gain Formula

The overall transfer function described by a signal flow graph can be found by using the Mason’s
Gain Formula:

∆
=
∆

Where,
TF = Transfer Function
Pk = Gain of the kth forward path
Δk = the part of Δ not touching the kth forward path.
Δ = 1 – [sum of individual loop gains] + [sum of gain products of all combinations of two non-
touching loops] − [sum of gain products of all combinations of three non-touching loops] + …
[sum of gain products of all combinations of n non-touching loops]
Note the alternate change of signs.

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
Example 1: Find the overall transfer function by using Mason’s gain Formula

G5(s)

R(s) x1(s) x2(s) x3(s) x4(s) x5(s) x6(s)

Y(s)
1 G1(s) 1 1 G2(s) G3(s) G4(s)

-H3(s) H1(s)

-H2(s)
Solution:
i) Determining forward path gains (Pk);
 There are 2 forward paths i.e. P=2
Gain of the 1st forward path, =
Gain of the 2nd forward path, =
ii) Determining ∆
The given signal flow graph has 3 loops with the following loop gains:
=− , = , =−
 Sum of individual loop gains is;
+ + =− + −
 Sum of gain products of all combinations of two non-touching loops:
Gain product of 1st combination is = (− )×( )=−
nd
Gain product of 2 combination is = (− ) × (− )=
The sum of the 2 combinations will be: − +
∆= 1 − ( + + )+( + )
∆= 1 − (− + − ) + (− + )
∆= + − + − +
iii) Determining ∆
To obtain ∆ , make the gains of all the branches touching the forward path P1 to be zero in the
equation for ∆ above.
∆ = 1 − (0 + 0 + 0) + (0 + 0)
∆ =1

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.

G5(s)

R(s) x1(s) x2(s) x3(s) x4(s) x5(s) x6(s) Y(s)

-H3(s) H1(s)

-H2(s)
To obtain ∆ , make the gains of all the branches touching the forward path P2 to be zero in the
equation for ∆ above
∆ = 1 − (0 + 0 + 0) + (0 + 0)
∆ =1

Therefore,
=2
=
=
∆= 1 + − + − +
∆ =1
∆ =1
Substituting into
∆
=
∆

The closed loop transfer function will be;

∆ + ∆
=
∆

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
+
=
+ − + − +
Example 2: Determine the system gain of the following signal flow graph using Mason’s formula.

Solution
i) Determining forward path gains (Pk)
There are 2 forward paths i.e. P=2
 The 1st identified forward path is highlighted, and therefore the gain for the path is;
=

 The 2nd identified forward path is highlighted as shown and the path gain is given by
=

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
ii) Determining ∆
The given signal flow graph has 3 loops with the following loop gains:
=
=−
=−
 Sum of individual loop gains is;
+ + = − −
 There is only one available pair of non-touching loops i.e., pair of loops with no common
node; L1 & L3 with a gain product equal to;
=−
Since there is no set of three non-touching loops, therefore;
∆= 1 − ( + + )+( )−0
∆= 1 − ( − − ) + (− )
∆= − + + −
iii) Determining ∆
 To obtain ∆ , make the gains of all the branches touching the forward path P1 to be zero in
the equation for ∆ above.

Since all are touching the forward path P1, we make them all 0.
∆ =1−0+0+0−0=1
 To obtain ∆ , make the gains of all the branches touching the forward path P2 to be zero in
the equation for ∆ above

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.

=0
Substituting in the equation for ∆
∆ =1− +0+0− ×0=1−
∆ + ∆
=
∆
(1) + (1 − )
=
1− + + −
+ −
=
− + + −
Example 3: The figure below shows a signal flow graph of a control system. Determine
the system gain using Mason’s formula.

Solution
i) Determining forward path gains (Pk)
There are 3 forward paths i.e. P=3
 The path-gain for the 1st identified forward path is
=

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
 The path-gain for the 2nd identified forward path is
=
 The path-gain for the 3rd identified forward path is
=
ii) Determining ∆
The given signal flow graph has 3 loops with the following loop gains:
=

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.

 Sum of individual loop gains is;

+ + = + +
 non-touching loops=0
∆= 1 − ( + + )+0
∆= 1 − ( + + )

iii) Determining ∆
 To obtain ∆ , make the gains of all the branches touching the forward path P1 to be zero in
the equation for ∆ above.
Since all are touching the forward path P1, P2, P3, we make them all 0
∆ =1−0+0+0=1
∆ =1−0+0+0=1
∆ =1−0+0+0=1
Substituting in the equation for ∆
∆ + ∆ + ∆
=
∆
(1) + (1) + (1)
=
1−( + + )
( + ) +
=
−( + + )
Check this link for further knowledge: https://www.youtube.com/watch?v=9eAzSCKuGtc

Mason’s gain formula: https://www.youtube.com/watch?v=l58uYZi-xjk

Problem on signal flow graph: https://www.youtube.com/watch?v=9eAzSCKuGtc&t=39s

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
Drawing a signal flow graph from Linear Equations
Example 4: Draw a signal flow graph for the following set of linear equations (4mks)
=2 +3
= 2.5 + 1.5 +4
=5 + 4.5

2.5

x1(s) x2(s) 1.5 x3(s) 4.5 x4(s)

2
3 4

Example 5: Draw a signal flow graph for the following set of linear equations
=4 +3 +2
=7
=5 +6 +9
=3 +8

x1 4 x2 7 x3 6 x4 x5
8
3

5
3

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)
 By Eng. Omuzi H.
Exercise
Q1. The figure below shows a signal flow graph of a control system. Determine the transfer
function (8mks)

H1 G4

R(s) 1 1 G2 G3 1 C(s)
 G1


H2

−
Q2 The Figure 1 below shows a block diagram of a control system. (20mks)

Figure 1
i) Draw a signal flow graph for the block diagram
ii) Use Mason’s gain formula to determine the transfer function

Engineering Control Systems

DIP 17 AVI-MECH (MOD 2 TERM 1)