CHAPTER II: SIGNAL FLOW GRAPH

For complex control systems, the block diagram c. Mixed Node – A node that has both incoming and
reduction technique is cumbersome. An alternative method
for determining the relationship between system variables
has been developed by Mason and is based on a signal flow
graph. Signal Flow Graph is a pictorial representation of the
simultaneous equations describing a control system. It
graphically displays the transmission of signals through the
system, as does the block diagram. A signal flow graph is a
diagram consisting of nodes that are connected by branches.
A node is assigned to each variable of interest in the system,
and branches are used to relate the different variables. The
main advantage for using SFG is that a straight forward
procedure is available for finding the transfer function in
which it is not necessary to move pickoff point around or to
redraw the system several times as with block diagram
manipulations. It is easier to draw and therefore easier to
manipulate than the block diagram.
Mason’s rule is useful for solving relatively
complicated block diagrams by hand. It yields the solution to
the graph in the sense that it provides an explicit input-output
relationship for the system represented by the diagram. The
advantage as compared to path-by-path reduction is that it is
systematic and algorithmic.
SIGNAL FLOW GRAPH ELEMENTS
R(s) G(s) C(s)
outgoing branches
2. Branch ─ use to represents transfer function (or blocks).
It is a unidirectional path that relates the dependency of
a control input to an output and vice-versa. (G)
3. Path ─ it is a continuous, unidirectional succession of
branches along which no node is passed more than
once.
a. Forward Path ─ path from input node to output
node.
b. Feedback Path ─ path from output node to input
node.
c. Self-Loop ─ Feedback loop consisting of a single
branch
d. Loop – a closed path that originates and terminates
at the same node. (Note: along the path, no node
should be touched twice)
4. Branch Gain/Transmission Function ─ it refers to the
value of the transfer function (or block) in traversing from
one node to the next.
a. Path Gain ─ product of branch gains encountered
in traversing a path
b. Loop Gain ─ product of the branch gains in
traversing a loop

1. Node ─ use to represent control signals. It is a junction SIGNAL FLOW GRAPH ALGEBRA
denoting a variable or a signal. (R, C)
1. ADDITIVE RULE ─ when the value of the variable
a. Input Node or Source Node ─ a node with only designated by a node is equal to the sum of all signals
outgoing branches entering the node.
b. Output Node or Sink Node ─ node with only
R1
incoming branches. G1

Note: R2 G2
Very often, a variable in a system is a function of the
output variable. The canonical feedback system is an G3 C
obvious example. In this case, if the signal flow graph were R3
to be drawn directly from the equations, the “output node” : Gn
would require an outgoing branch, contrary to the definition. .

This problem may be remedied by adding a branch with a Rn

transmission function of unity entering a “dummy” node.
2. TRANSMISSION RULE ─ the value of the variable
designated by a node is transmitted on every branch
leaving that node.
C1
c. Connect the nodes by the appropriate branches.
d. If the desired output node has outgoing branches, add
a dummy node and a unity branch gain.
e. Rearrange the nodes and/or loops in the graph to
achieve maximum pictorial clarity.

G1
C2 2. Block Diagram to SFG
G2 1 G 1
R G C
R C3 C
G3 R
±
H ±H
Gn
Cn
MASON’S GAIN FORMULA
Formula that gives the transfer functions from the source
node to the sink node only.
3. MULTIPLICATION RULE ─ A cascade connection of
n-1 branches with transmission functions can be 1 P
replaced by a single branch with transfer function equal T M K K
 K 1
to the product of the old ones.
1
G1 G2 … Gn  ( M 1 1  M 2  2    M P  P

R X1 Xn C
where:

G1G2…G T = the general input-output gain (C/R) or transfer function

n
from the input node to the output node.
R C MK = Path gain of the Kth forward path
P = no. of paths from input to output
Δ = (signal flow graph determinant or characteristic
CONSTRUCTION OF SIGNAL FLOW GRAPH
function)
= 1 ─ (sum of all individual loop gains) + (sum of the
1. Describing equations to SFG
product of the loop gains of all possible combinations of
nontouching loops taken 2 at a time) ─ (sum of the
a. Write the system of equations in the form
product of the loop gains of all possible combinations of
nontouching loops taken 3 at a time) + …
X 1  G11 X 1  G12 X 2    G1n X n ΔK = value of Δ for that part of the flow graph not touching
X 2  G21 X 1  G22 X 2    G2 n X n the Kth forward path. (also called as the cofactor of Kth
path)

X m  G m1 X 1  G m 2 X 2    G mn X n Note:
where: 1. Two loops, paths, or a loop and a path are said to be
X = nodes nontouching if they have no nodes in common.
G = Transfer function 2. To determine ΔK, redraw the flow graph with all the
Note: nodes of the Kth forward path removed.
X1 is not required if X1 is an input node

b. Arrange the m or n (whichever is larger) nodes from

left to right. The nodes may be rearranged if the
required loops later appear too cumbersome.
 Example:

Construct the equivalent signal flow graph of the

given block diagrams.

H3
─
+ + +
G1 G2 G3
R C
─ ─
H2

H1

R1 R3 R5

IO1 IO3

Vi Vo
R2 R4 R6
IO4
IO2

For each of the following signal flow graphs, determine:

a. Individual loop gains
b. Forward path gains
c. The value of Δ
d. The value of Δk
e. The transfer function, T

G6 H6

1 G1 G2 G3 G4 G5 1

R C

H1 H2 H3 H4 H5

G7 G5

H2
G1 G2 G3
R
X1 X2 C

─H2