Block Diagrams

u x = Ax + Bu, x 0
y u an s n + an−1s n−1 + ... + a1s + a0
y
H ( s) =
y = Cx + Du bm s m + bm−1s m−1 + ... + b1s + b0

state space transfer function

representation representation

Assume that we are only interested in the input-output relation:

transfer function
Then, a system can be represented by a block with an input and output.
One can represent a large system as an interconnection of block diagrams of
subsystems.
... gives an insight both in analysis and synthesis.
 X (s ) Y (s )
G (s ) G( s) X ( s) = Y ( s)

X1 (s) +   X 3 ( s) X 3 ( s) = X 1 ( s) + X 2 ( s)
X 3 ( s) = X 1 ( s) -­‐  X 2 (s)
-­‐/+  
X 2 ( s)

Y ( s) G(s)
=
-­‐  
U (s ) +   X (s ) Y (s ) X ( s ) = U ( s ) + Y ( s ) U ( s) 1 − G( s)
G (s )
Y (s) = G (s) X (s) Y ( s) G( s)
-­‐/+   =
U ( s) 1+  G (s)
 Y ( s) G( s)
U (s ) +   X (s ) Y (s ) =
G (s ) U ( s) 1 − H ( s)G( s)
-­‐  
-­‐/+   X ( s ) = U ( s ) + H ( s )Y ( s)
Y ( s) = G ( s) X ( s)
H (s ) Y ( s) G( s)
= +  
H ( s....
U ( s) 1......... )G ( s)
N (s )
R (s ) +  
X (s ) +   Y (s )
G1 (s) G2 (s)
+  
-­‐  

H (s )
G2 ( s)
Y ( s) = [G1 (s) R(s) + N (s)]
1 + H ( s)G1 ( s )G2 ( s)
 Reduction Rules of Block Diagrams

A +   A − B +   A− B +C

-­‐   +  
B
C

A +   A + C +   A− B +C

+   -­‐  
C
B
 C
C
+   +  
A +   A − B ++  C A +   A − B +   A− B +C

-­‐   -­‐  
B
B

A AG1 AG1G2 A AG2 AG1G2

G1 G2 G2 G1

A AG1 AG1G2 A AG1G2

G1 G2 G1G2
A AG1 +   AG1 + AG2 A A(G1 + G2 )
G1 G1 + G2
+  
AG2
G2

B
A−
A AG +   AG1 − B A +   G AG − B
G G
-­‐   -­‐  
B
1 B
G
A +   A− B ( A − B)G A AG +   AG − BG
G (s ) G
-­‐  
B -­‐  
B BG
G

A AG
G
A AG
G
AG
AG
G
 H2

R(s)+   +   -­‐   C(s)

G1 G2 G3
+  
+   +  

H1

C(s)
Find the transfer function by reducing the block diagram!
R(s)
A block diagram of a circuit is
given. Find the transfer
function for each block and
obtain the transfer function of
the block diagram Vd3/Vk!
 Signal-Flow Diagram
A diagram equivalent to block diagrams.
Suitable to apply Mason’s rule – a formula that gives the transfer
function.

The signal-flow diagram is a directed graph (digraph)

G = {V , E}

set of set of
vertices edges

with weights on edges, which represent gains (transfer functions)

between components inputs and outputs.
 Reduction of Signal-Flow Diagrams

a
ax1 = x2
x1 x2

a1 a2 a1 a2
ax1 x2 = x3
x1 x2 x3 x1 x3

a a+b
(a + b) x1 = x2
x1 x2 x1 x2

a a
ac
x2 c x2
b bc acx1 + bcx2 = x4
x3 x4 x4

x1 x1
 c
ab
a ab bc 1 − bc

x1 x2 x3 x1 x3 x1 x3
b

x3 b
b c x3
1− c
a e a e
x1 x1
d d
1− c
 Block Diagrams vs. Signal-Flow Diagrams

R(s) C(s) G(s)

G(s)
R(s) C(s)

-1

R(s) + E(s) C(s) 1 G(s)

G(s)
R(s) E(s) C(s)
-

Mason’s Rule

Aim: To find the transfer function directly from the diagram without
any reduction.
Definitions:
Path: A subgraph GP of the graph G is called a path if
•  it contains n edges and n+1 vertices,
•  one can label its edges as e1, e2, ...,en and its vertices as
v1,v2, ....,vn+1 such that the edge ek points from vk to vk+1.
Path gain: The product of gains along a path.
Loop: A subgraph GL of the graph G is called a loop if
•  it contains n edges and n vertices,
•  one can label its edges as e1, e2, ...,en and its vertices as
v1,v2, ....,vn such that the edge ek points from vk to vk+1(mod n).
Loop gain: The product of gains along a loop.
Determinant of a (sub)graph:
Δ = 1− ∑ loop gains
+ ∑ products of loop gains for disjoint loop pairs
− ∑ products of loop gains for disjoint loop triples
 Mason’s Rule

For a signal-flow diagram the transfer function between the

input and output vertices is given by
1
P=
Δ ∑P Δ
k
k k

Determinant of the
Gain of the k. subgraph obtained by
path deleting the k. path
Determinant of the whole diagram