CH4 - SS Model - Reduction BD - Signal Flow Graph - Control Theory - 2020-2021 - Semester01 - DR - Horoub

Copyright © 2020 by Mamon Horoub. All rights reserved.
Control Theory
Thursday, June 10, 2021

Control Theory
.
Thursday, June 10, 2021

ENME438 : Control Theory

CH 4: State Space Modeling, Block Diagram
Reduction, and Signal Flow Reduction
Dr. Mamon M. Horoub
Assistant Professor,
Faculty of Engineering & Technology
Department of Mechanical and Mechatronics Engineering
1 Objectives
Recap of the 2 Mechanical Systems
Previous 3 Liquid Systems
Class
Agenda 4 Electrical Systems
5 Electro-Mechanical Systems
Dr. Mamon Horoub

Today’s 1 State Space Modeling
Class 2 Block Diagram Reduction
Agenda 3 Signal Flow Graphs
Dr. Mamon Horoub

Part 1
State Space Modeling
Dr. Mamon Horoub

State space model and concept
Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

State space model formulation
Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Convert a Transfer function to SS
Dr. Mamon Horoub

Convert a Transfer function to SS
Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Part 2
Block Diagram Reduction
Dr. Mamon Horoub

Dr. Mamon Horoub

Block Diagram
Dr. Mamon Horoub

Block Diagram Components
Dr. Mamon Horoub

Reduction in Block Diagram
There are generally three structures of the block

diagram:
➢ Cascaded form
➢ Parallel form
➢ Feedback form
Dr. Mamon Horoub

Convert Equations to Block Diagram
Dr. Mamon Horoub

Convert Equations to Block Diagram
Dr. Mamon Horoub

Block Diagram Algebra
Dr. Mamon Horoub

Dr. Mamon Horoub

Unity Feedback System
Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Block Diagram Algebra (Example 1)
Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Block Diagram Algebra (Solve at your home)
Dr. Mamon Horoub

Block Diagrams Reduction using MATLAB

The blocks connected in series, parallel and as feedbacks
are at times very tedious to compute. MATLAB allows
solving of such blocks directly using some functions that is
being discussed below
Dr. Mamon Horoub


Matlab Code
• The MATLAB code for the above problem is:
• num1 = [1 2];
den1 = [3 1 0];
G1 = tf(num1, den1) %Making G1 as the tranfer function
G2 = tf( [2], [1 7] )
G3 = tf( [1 5], [1 6 3 ] )
G4 = tf( [1], [1 0] )
• T1 = parallel(G1, G2) %as G1 and G2 are in parallel
T2 = series(T1, G3) %as T1 and G3 are in series
T = feedback(T2, G4, -1) %as G4 is the negative feedback
• Here we use the tf() function to get the transfer function
parallel() and series() functions according to the
requirement and the feedback() function for feedback.
Dr. Mamon Horoub
Dr. Mamon Horoub

Part 3
Signal Flow Graphs
Dr. Mamon Horoub

Outline
➢ Introduction to Signal Flow Graphs
✓ Definitions
✓ Terminologies
✓ Examples
➢ Mason’s Gain Formula
✓ Examples
➢ Signal Flow Graph from Block Diagrams
➢ Design Examples
Dr. Mamon Horoub

Introduction
➢ Alternative method to block diagram representation,
developed by Samuel Jefferson Mason.
➢ Advantage: the availability of a flow graph gain

formula, also called Mason’s gain formula.
➢ A signal-flow graph consists of a network in which

nodes are connected by directed branches.
➢ It depicts the flow of signals from one point of a

system to another and gives the relationships among
the signals. Dr. Mamon Horoub
Fundamentals of Signal Flow Graphs

• Consider a simple equation below and draw its signal flow graph:
y = ax
• The signal flow graph of the equation is shown below;
a y
x
• Every variable in a signal flow graph is represented by a Node.

• Every transmission function in a signal flow graph is represented by a
Branch.
• Branches are always unidirectional.
• The arrow in the branch denotes the direction of the signal flow.
Dr. Mamon Horoub
Signal-Flow Graph Models

Y1( s ) G11( s )  R1( s ) + G12( s )  R2( s )
Y2( s ) G21( s )  R1( s ) + G22( s )  R2( s )
𝑅1 (𝑠) 𝑌1 (𝑠)
𝑅2 (𝑠) 𝑌2 (𝑠)
Dr. Mamon Horoub


r1 and r2 are inputs and x1 and x2 are outputs
a11 x1 + a12 x2 + r1 x1
a21 x1 + a22 x2 + r2 x2
𝑟1 𝑥1
𝑟2 𝑥2
Dr. Mamon Horoub


xo is input and x4 is output
x1 = ax0 + bx1 + cx2 f
x2 = dx1 + ex3
c
x0 x1 x2 g x3 x4
a d h
x3 = fx0 + gx2
x4 = hx 3 b e
Dr. Mamon Horoub

Terminologies
• An input node or source contain only the outgoing branches. i.e., X1
• An output node or sink contain only the incoming branches. i.e., X4
• A path is a continuous, unidirectional succession of branches along
which no node is passed more than ones. i.e.,
X1 to X2 to X3 to X4 X1 to X2 to X4 X2 to X3 to X4
• A forward path is a path from the input node to the output node. i.e.,
X1 to X2 to X3 to X4 , and X1 to X2 to X4 , are forward paths.
• A feedback path or feedback loop is a path which originates and
terminates on the same node. i.e.; X2 to X3 and back to X2 is a
feedback path.
Dr. Mamon Horoub


• A self-loop is a feedback loop consisting of a single branch. i.e.; A33 is a self loop.
• The gain of a branch is the transmission function of that branch.
• The path gain is the product of branch gains encountered in traversing a path. i.e.
the gain of forwards path X1 to X2 to X3 to X4 is A21A32A43
• The loop gain is the product of the branch gains of the loop. i.e., the loop gain of
the feedback loop from X2 to X3 and back to X2 is A32A23.
• Two loops, paths, or loop and a path are said to be non-touching if they have no
nodes in common.
Dr. Mamon Horoub

Consider the signal flow graph below and identify

the following
a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths (loops).
e) Determine the loop gains of the feedback loops.
f) Determine the path gains of the forward paths.
g) Non-touching loops
Dr. Mamon Horoub

Consider the signal flow graph below and identify

the following a) Input node.
b) Output node.
c) Forward paths.
e) Determine the loop gains of
the feedback loops.
f) Determine the path gains of
the forward paths.
• There are two forward path gains;
Dr. Mamon Horoub

Consider the signal flow graph below and identify the following
• There are four loops

a) Input node.
b) Output node.
c) Forward paths.
the feedback loops.
the forward paths.
Dr. Mamon Horoub

a) Input node.
b) Output node.
c) Forward paths.
the feedback loops.
the forward paths.
• Nontouching loop gains;
Dr. Mamon Horoub

a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths.
e) Self loop.
f) Determine the loop gains of the feedback loops.
g) Determine the path gains of the forward paths.
Dr. Mamon Horoub

a) Input node.
b) Output node.
c) Forward paths.
d) Feedback paths.
e) Self loop.
f) Determine the loop gains of the
feedback loops.
g) Determine the path gains of the
forward paths.
a) Input node
b) Output node
Dr. Mamon Horoub

(c) Forward Paths
Dr. Mamon Horoub

Consider the signal flow graph below and identify the following X5 to X6 to X7 to X5
(c) feedback Paths or loops

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub
(e) Self loops

Dr. Mamon Horoub
(f) Loop Gains of the Feedback Loops

Dr. Mamon Horoub
(g) Path Gains of the Forward Paths

Dr. Mamon Horoub
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.
Dr. Mamon Horoub

Mason’s Rule (Mason, 1953)

• The transfer function, C(s)/R(s), of a system represented
by a signal-flow graph is;
n
 Pi  i
C( s ) i =1
=
Where R( s ) 
n = number of forward paths.
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.
Dr. Mamon Horoub
Mason’s Rule
n
 Pi  i
C( s ) i =1
=
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.)
Dr. Mamon Horoub
Systematic approach
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
Dr. Mamon Horoub

Example#1:
Apply Mason’s Rule to calculate the transfer function of the
system represented by following Signal Flow Graph
Therefore, C P11 + P2  2
=
R 
There are three feedback loops
L1 = G1G4 H1 , L2 = −G1G2G4 H 2 , L3 = −G1G3G4 H 2

Dr. Mamon Horoub
Example#1:
There are no non-touching loops, therefore
∆ = 1- (sum of all individual loop gains)

 = 1 − (L1 + L2 + L3 )
 = 1 − (G1G4 H1 − G1G2G4 H 2 − G1G3G4 H 2 )
Dr. Mamon Horoub
Example#1:
Eliminate forward path-1

∆1 = 1- (sum of all individual loop gains)+...
∆1 = 1
∆2 = 1- (sum of all individual loop gains)+...

∆2 = 1
Dr. Mamon Horoub
Example#1:
Dr. Mamon Horoub

Example#2:
Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph
P1
P2
1. Calculate forward path gains for each forward path.

P1 = G1G2G3G4 (path 1) and P2 = G5G6G7 G8 (path 2)
2. Calculate all loop gains.
L1 = G2 H 2 , L2 = H 3G3 , L3 = G6 H 6 , L4 = G7 H 7
3. Consider two non-touching loops.
L1L3 L1L4
L2L4 L2L3 Dr. Mamon Horoub
Example#2:
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 2G6 H 6 + G2 H 2G7 H 7 + H 3G3G6 H 6 + H 3G3G7 H 7 )
Dr. Mamon Horoub

Example#2:
1 = 1 − (L3 + L4 )
1 = 1 − (G6 H 6 + G7 H 7 )
 2 = 1 − (L1 + L2 )
 2 = 1 − (G2 H 2 + G3 H 3 )
Y ( s ) P11 + P2  2
=
R( s ) 
Y (s) G1G2G3G4 1 − (G6 H 6 + G7 H 7 ) + G5G6G7 G8 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 )
Dr. Mamon Horoub
Example#3:
Find the transfer function, C(s)/R(s), for the signal-
flow graph in figure below.
Dr. Mamon Horoub

Example#3:
There is only one forward Path.
P1 = G1 ( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )

Dr. Mamon Horoub
Example#3:
There are four feedback loops.
Dr. Mamon Horoub

Example#3:
Non-touching loops taken two at a time.
Dr. Mamon Horoub

Example#3:
Non-touching loops taken three at a time.
Dr. Mamon Horoub

Example#3:
Dr. Mamon Horoub

Example#4:
Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph
There are three forward paths, therefore n=3.

3
 Pi  i
C( s ) i =1 P11 + P2  2 + P3  3
= =
R( s )  
Dr. Mamon Horoub
Example#4:
Forward Paths
P1 = A32 A43 A54 A65 A76 P2 = A72 P3 = A42 A54 A65 A76
Dr. Mamon Horoub

Example#4:
Loop Gains of the Feedback Loops
L1 = A32 A23 L5 = A76 A67 L9 = A72 A57 A45 A34 A23

L2 = A43 A34 L6 = A77 L10 = A72 A67 A56 A45 A34 A23
L3 = A54 A45 L7 = A42 A34 A23
L4 = A65 A56 L8 = A65 A76 A67
Dr. Mamon Horoub
Example#4:
Loop Gains of the Feedback Loops
Dr. Mamon Horoub

Example#4:
two non-touching loops
L1 L3 L2 L4 L3 L5 L4 L6 L5 L7 L7 L8
L1 L4 L2 L5 L3 L6 L4 L7
L1 L5 L2 L6
L1 L6 L2 L8
L1 L8 Dr. Mamon Horoub
Example#4:
Three non-touching loops
Dr. Mamon Horoub

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
Dr. Mamon Horoub
Example#5:
－H1
R(s) 1 E(s) G1 X1 G2 X2 G3 G4 X3 1 C(s)
－H2
－H3
 = 1 + (G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1 )

P1 = G1G2G3G4 ; 1 = 1
C ( s) G1G2G3G4
G= =
R( s ) 1 + G1G2G3G4 H 3 + G2G3 H 2 + G3G4 H 1
Dr. Mamon Horoub
Example#6:
－
－ X1 Y1
G1
+ + C(s)
R(s) E(s)
－ +
－ X
2
G2
－ Y2
-1
X1 G1 Y1
-1
-1
1
R(s) 1 E(s) C(s)
1 1 1
X2 G2 Y2
-1
-1
Dr. Mamon Horoub
Example#6:
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 1 Y2 1
X2 G2
-1 -1
7 loops:
3 ‘2 non-touching loops’ :
Dr. Mamon Horoub

Example#6:
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 1 Y2 1
X2 G2
-1 -1
Then:
Δ = 1 + 2G2 + 4G1G2
p1 = ( − 1)  G1  1 Δ1 = 1 + G2
4 forward paths:
p2 = ( − 1)  G1  ( − 1)  G2  1 Δ2 = 1
p3 = 1  G 2  1 Δ3 = 1 + G1
p4 = 1  G2  1  G1  1 Δ4 = 1
Dr. Mamon Horoub
Example#6:
-1
X1 G1 Y1
-1 1
R(s) 1 E(s) -1 C(s)
1 1 Y2 1
X2 G2
-1 -1
Then:
Δ = 1 + 2G2 + 4G1G2
p1 = ( − 1)  G1  1 Δ1 = 1 + G2
4 forward paths:
We have
C( s )  pk k
p2 = ( − 1)  G1  ( − 1)  G2  1 Δ2 = 1 R( s )
=

p3 = 1  G 2  1 Δ3 = 1 + G1 G − G1 + 2G1G2
= 2
1 + 2G2 + 4G1G2
p4 = 1  G2  1  G1  1 Δ4 = 1
Dr. Mamon Horoub
Example#7:
Determine the transfer function C/R for the block diagram
below by signal flow graph techniques.
• The signal flow graph of the above block diagram is shown below.
• There are two forward paths. The path gains

are
• The three feedback loop gains are
• No loops are non-touching, hence
• Because the loops touch the nodes of • Hence the control ratio T = C/R is
P1, hence
• Since no loops touch the nodes of P2,

therefore
Dr. Mamon Horoub

Example#8:
Find the control ratio C/R for the system given below.
• 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, hence
• All feedback loops touches the two forward paths,

hence
• Hence the control ratio T =

Dr. Mamon Horoub
Design Example#1
1
V1 ( s ) = I1 ( s ) + I1 ( s ) R
Cs
CsV1 ( s ) − CsV2 ( s ) = I1 ( s )
V2 ( s ) = I 1 ( s ) R
−Cs
Cs R
V1 (s ) I1 (s ) V2 (s )
Dr. Mamon Horoub
Design Example#2
F = M 1s 2 X 1 + k1 ( X 1 − X 2 ) 0 = M 2 s 2 X 2 + k1 ( X 2 − X 1 ) + k 2 X 2
Dr. Mamon Horoub

Design Example#2
Dr. Mamon Horoub

Dr. Mamon Horoub

References
1. Dorf, R. C. and Bishop, R. H. (2008). Modern Control Systems (Eleventh Edition)
Pearson Education.
2. Ogata, K. (2010). Modern Control Engineering (Fifth Edition) Pearson Education.
3. Nise, N. S. (2011). Control Systems Engineering (Sixth Edition) John Wiley and Sons.
4. Tony Lecture Notes PMU
Dr. Mamon Horoub

Dr. Mamon Horoub

CH4 - SS Model - Reduction BD - Signal Flow Graph - Control Theory - 2020-2021 - Semester01 - DR - Horoub

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Copyright © 2020 by Mamon Horoub. All rights reserved.

Thursday, June 10, 2021

Thursday, June 10, 2021

ENME438 : Control Theory

Recap of the 2 Mechanical Systems

Previous 3 Liquid Systems

Dr. Mamon Horoub

Today’s 1 State Space Modeling

Class 2 Block Diagram Reduction

Agenda 3 Signal Flow Graphs

Dr. Mamon Horoub

Dr. Mamon Horoub

State space model and concept

Dr. Mamon Horoub

State space model and concept

Dr. Mamon Horoub

State space model and concept

Dr. Mamon Horoub

State space model and concept

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

Convert a Transfer function to SS

Dr. Mamon Horoub

Convert a Transfer function to SS

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

State space model formulation

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Dr. Mamon Horoub

Block Diagram Components

Dr. Mamon Horoub

Reduction in Block Diagram

There are generally three structures of the block

Dr. Mamon Horoub

Convert Equations to Block Diagram

Dr. Mamon Horoub

Convert Equations to Block Diagram

Dr. Mamon Horoub

Block Diagram Algebra

Dr. Mamon Horoub

Block Diagram Algebra

Dr. Mamon Horoub

Unity Feedback System

Dr. Mamon Horoub

Block Diagram Algebra

Dr. Mamon Horoub

Block Diagram Algebra