BTE3323-Control Systems-CHAPTER 3 - Block Diagrams and Signal Flow Graphs-Lecture 6-7

BTE 3323: CONTROL SYSTEMS
Chapter 3
Block Diagram and Signal Flow
Graph
Chapter Description
• Aims
– Identify the block diagram of a system
– Describe the Transfer Function for a system based on input and output
– Modify a block diagram of multiple subsystems to a single block representing the Transfer Function from input to output
– Analyze the Signal Flow Graph of a system
• Expected Outcomes
– Students will be able to identify the common topologies for interconnecting subsystems ,
– Students will be able to apply different techniques to simplify complex control systems
– Students will be able to convert between block diagram and signal flow graphs.
• Other related Information

– Using Mason’s rule to find transfer function
• References
– Norman S. Nise., Control System Engineering, 7th Ed. John Wiley & Sons, 2015.
– C. Dorf, Robert H. Bishop Richard, Modern control systems, 13th Ed, Pearson, 2017.
– Katsuhiko Ogata, Modern Control Engineering5th Ed, Pearson 2010
23 November
Control Systems– BTE3323 By Dr. Waheb A. Jabbar Faculty of Engineering Technology 2
2023
Chapter Contents #2
• Block diagram reduction

• Signal Flow Graphs (SFGs)
• Mason’s rule
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2023
The Block Diagram
R(s) Transfer Y(s)

Function (TF)
Input G(s) Output
• Let R(s) be the (Laplace transform of the) input variable, Y(s) be the output variable,
and G(s) be the transfer function.
• One method of graphically denoting the relationship Y(s) = R(s)G(s) is through a block
diagram.
• The block represents a transfer function corresponding to a system’s mathematical

model and the arrows represent signals (e.g. electrical voltage from a position sensor).
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The Block Diagram
• Many systems are composed of multiple subsystems.

• When multiple subsystems are interconnected, a few more
schematic elements must be added to the block diagram.
• These new elements are summing junctions and pickoff points.
• Summing junctions : the output signal is the algebraic sum of
input signals
• Pickoff points : distributes the input signal to several points
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The Block Diagram
FIGURE 1 Components of a block diagram for a linear, time-invariant system
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The Block Diagram
• There are three basic common forms, by which the subsystems are
connected together.
• The common topologies for interconnecting subsystems are:
▪ Cascade form,
▪ Parallel form,
▪ Feedback form.
• These common topologies will form the basis for reducing more
complicated systems to a single block.
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Cascade Form
FIGURE 2 a. Cascaded subsystems; b. equivalent transfer function
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Parallel Form
FIGURE 3 a. Parallel subsystems; b. equivalent transfer function
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Feedback Form
FIGURE 4 a. Feedback control system; b. simplified model; c. equivalent transfer function
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Feedback Form
• Suppose the Laplace transform of the error is denoted by E(s)
E(s) = R(s) −B(s) (1)
where B(s)=C(s)H(s)
C(s) = E(s)G(s) (2)

B(s)
• Substituting the above equation (1) into equation (2):-

C(s) = R(s)G(s) −C(s)H(s)G(s) (3)
C ( s) G( s)
 =
R( s ) 1 + G ( s ) H ( s )
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Feedback Form
• This is the equivalent to a closed-loop transfer function of
the feedback system. So the system can be represented by using
the following block diagram.
• The product G(s)H(s), is called the open-loop transfer

function, which relates the error to the feedback.
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Moving Blocks to Create Familiar Forms
FIGURE 5 Block diagram algebra for summing junctions—equivalent forms for

moving a block a. to the left past a summing junction;
b. to the right past a summing junction
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Moving Blocks to Create Familiar Forms
FIGURE 6 Block diagram algebra for pickoff points— equivalent forms

for moving a block a. to the left past a pickoff point;
b. to the right past a pickoff point
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Reduction techniques
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Reduction techniques
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Example-1
Reduce the block diagram shown in Figure to a single

transfer function via reduction techniques.
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Solution
• First, the three summing junctions can be collapsed into a single summing junction.
• Second, recognize that the three feedback functions,H1(s),H2(s),and H3(s),are
connected in parallel. They are fed from a common signal source, and their outputs are
summed. Also recognize that G2(s) and G3(s) are connected in cascade. Thus, the
equivalent transfer function is the product, G3(s)G2(s).
• Finally, the feedback system is reduced and multiplied by G1(s) to yield the
equivalent transfer function
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Example-2
Consider the system shown in Figure. Simplify this diagram.
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Solution
• By moving the summing point of the negative feedback loop containing H2 outside the positive
feedback loop containing H1
• Eliminating the positive feedback loop
• The elimination of the loop containing H2/G1
• Finally, eliminating the feedback loop
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Example-3
Simplify the block diagram shown in Figure. Then obtain the

closed-loop transfer function C(s)/R(s).
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Solution
• First move the branch point

between G3 and G4 to the right-
hand side of the loop containing
G3, G4, and H2.
• Then move the summing point
between G1 and G2 to the left-
hand side of the first summing
point. See Figure (a).
• By simplifying each loop, the
block diagram can be modified
as shown in Figure (b).
• Further simplification results in
Figure (c)
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In-Class Exercise 1
Simplify the block diagram shown in Figure
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Solution
• First, move the branch point of the path involving H1 outside the loop
involving H2 as shown in (a).
• Then eliminating two loops as shown in (b).
• Combining two blocks into one as shown in (c).
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In-Class Exercise 2
Simplify the block diagram shown in Figure. Obtain the transfer function relating
C(s) and R(s).
Solution
• The block diagram can be modified as shown in (a).
• Eliminating the minor feedforward path, we obtain Figure (b),
• It can be simplified to Figure (c).
• The transfer function C(s)/R(s) is thus given by
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In-Class Exercise 3
Reduce the system shown in Figure to a single transfer

function.
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Solution
• First, move G2(s) to the left past the pickoff point to create parallel
subsystems, and reduce the feedback system consisting of G3(s) and H3(s).
• Second, reduce the parallel pair consisting of 1/G2(s) and unity,

and push G1(s) to the right past the summing junction, creating
parallel subsystems in the feedback.
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• Third, collapse the summing junctions, add the two feedback elements together,
and combine the last two cascaded blocks.
• Fourth, use the feedback formula.
• Finally, multiply the two cascaded blocks and obtain the final result.
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Exercise-1
23 November
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Signal-Flow Graphs
• Signal-flow graphs are an alternative to block diagrams.
• May be better for complex systems.
• Good for highly interwoven systems.
• System variables represented as nodes.
• Branches (lines) between nodes show relationships between system
variables.
• The “flow graph gain formula”

(Mason’s rule) allows the system
transfer function to be directly
computed without manipulation or
reduction of the diagram. FIGURE 7 Signal-flow graph components: a. system; b.
signal; c. interconnection of systems and signals
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Signal-Flow Graphs
BLOCK DIAGRAM SFG REPRESENTATION
1. G(s)
R(s) Y(s) R(s) Y(s)
G(s)
2. R(s) E(s) 1 E(s) G(s)

+ G(s) Y(s) Y(s)
- R(s)
H(s)
-H(s)
3. N(s)
N(s)
R(s) Y(s) 1 G1(s) G2(s) Y(s)

+
+ G1(s) + G2(s) R(s)

-
H(s) -H(s)
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Basic Signal Flow Graph
b. cascaded system signal-flow graph

a. cascaded system node
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c. parallel system nodes d. parallel system signal-flow graph
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e. feedback system nodes f. feedback system signal-flow graph
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Example-4
Convert the block diagrams shown in the following figure to a signal

flow graph.
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Solution
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Example-5
Convert the block diagrams shown in the following figure to

a signal flow graph.
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Solution
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Example-6
Convert the block diagrams shown in the following figure to

a signal flow graph.
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Solution
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In-Class Exercise 4
Label signals and draw a signal-flow graph for the block

diagram shown in figure
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Solution
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In-Class Exercise 5
Label signals and draw a signal-flow graph for the block
diagram shown in figure
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Solution
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Exercise-2
Convert the block diagrams shown in the following figure to a signal flow graph.
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Mason’s Rule
• 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 formula has several components that must be
evaluated.
• First, we must be sure that the definitions of the
components are well understood.
23 November
2023
Mason’s Gain Formula
Terms for Mason’s Gain Formula :
• Input node : has only outgoing branches, eg. : x1
• Output node : has only incoming branches, eg. : y2
• Path: a branch or sequence of branches that can be traversed from one
node to another, eg. : x1y1x2y2, x1y1x2y1 and x1y2
• Forward path : starts at input node and ends at output node, no node
traversed more than once, eg. : x1y1x2y2 and x1y2
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Mason’s Rule
• Loop: a closed path, along which no node is
met twice, that originates and terminates on the same node, eg. : y1x2y1,
• Non-touching loops: two loops are non-touching if they do not share
a common node,
• Path gain: the product of the branch gains in traversing a path, x1-y1-
x2-y2 is a1a2a3, x1-y1-x2-y1 is a1a2a4 , and x1-y2 is a5
• Forward path gain : the path gain of a forward path
• Loop gain : the path gain of a loop
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Mason’s Rule
• The transfer function, of a system represented by a signal-flow graph is
Note: In some books, Tk is written as Pk and it

is the gain of the kth forward path
P 
C ( s) 1
G( s) = = k k
R( s )  k
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Example-6
• Apply Mason’s Rule to calculate the transfer function of

the system represented by following Signal Flow Graph
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Solution
STEPS
1. Calculate forward path gain Pk for each forward path k.
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 k
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Solution
Therefore, C P11 + P2  2
=
R 
There are three feedback loops
L1 = G1G4 H 1 , 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 H1 − G1G2 G4 H 2 − G1G3G4 H 2 )

23 November
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Eliminate forward path-1
∆1 = 1- (sum of all individual loop gains)+...
∆1 = 1

∆2 = 1- (sum of all individual loop gains)+...
∆2 = 1
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Example-7
• Apply Mason’s Rule to calculate the transfer function of

the system represented by following Signal Flow Graph
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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 = G7 H 7
3. Consider two non-touching loops.

L1L3 L1L4
L2L4 L2L3
4. Consider three non-touching loops.

None.
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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 )
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 )
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Example-8
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23 November
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Solution
• There is only one forward Path.
P1 = G1( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )
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• There are four feedback loops.
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• Non-touching loops taken two at a time.
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• Non-touching loops taken three at a time.
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23 November
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In-Class Exercise 5
• Determine the transfer function C/R for the block diagram below
by signal flow graph techniques.
23 November
2023
• The signal flow graph of the above block diagram is shown below.
• Because the loops touch the

nodes of P1, hence
• There are two forward paths. The path gains are
• Since no loops touch the

• The three feedback loop gains are nodes of P2, therefore
• No loops are non-touching, hence

• Hence the control ratio T = C/R is
23 November
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In-Class Exercise 6
Determine the transfer function C/R for the block diagram
below by signal flow graph techniques.
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• The signal flow graph is shown in the figure.
• The two forward path gains are

• There are no non-touching loops,
hence
• The five feedback loop gains are
• All feedback loops touches the two forward • Hence the control ratio T =
paths, hence
23 November
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In-Class Exercise 7
Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph
23 November
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In-Class Exercise 7
23 November
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Exercise-3
R(s) 1 1 k1G1
/s k2
G2 1 1 Y(s)
-H
-k13
-1
23 November
2023
Exercise-4
Apply Mason’s Rule to calculate the transfer function of the system
represented by following Signal Flow Graph
23 November
2023
Dr. Waheb A. Jabbar Al-Areeqi,
Ph.D in Electrical, Electronic and Systems Engineering UKM, Malaysia
Senior Lecturer
Faculty of Engineering Technology
University Malaysia Pahang, Kuantan Malaysia
Email: waheb@ump.edu.my
Tel. (Office): +6095492182
Mobile : +60173729028
Office: FTeK, A2, Level 1, Room No. 1003
https://sites.google.com/view/waheb/home

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BTE 3323: CONTROL SYSTEMS

• Other related Information

• Block diagram reduction

R(s) Transfer Y(s)

• The block represents a transfer function corresponding to a system’s mathematical

• Many systems are composed of multiple subsystems.

FIGURE 1 Components of a block diagram for a linear, time-invariant system

FIGURE 2 a. Cascaded subsystems; b. equivalent transfer function

FIGURE 3 a. Parallel subsystems; b. equivalent transfer function

FIGURE 4 a. Feedback control system; b. simplified model; c. equivalent transfer function

C(s) = E(s)G(s) (2)

• Substituting the above equation (1) into equation (2):-

• The product G(s)H(s), is called the open-loop transfer

FIGURE 5 Block diagram algebra for summing junctions—equivalent forms for

FIGURE 6 Block diagram algebra for pickoff points— equivalent forms

Reduce the block diagram shown in Figure to a single

Consider the system shown in Figure. Simplify this diagram.

• The elimination of the loop containing H2/G1

• Finally, eliminating the feedback loop

Simplify the block diagram shown in Figure. Then obtain the

• First move the branch point

Simplify the block diagram shown in Figure

Reduce the system shown in Figure to a single transfer

• Second, reduce the parallel pair consisting of 1/G2(s) and unity,

• The “flow graph gain formula”

2. R(s) E(s) 1 E(s) G(s)

R(s) Y(s) 1 G1(s) G2(s) Y(s)

+ G1(s) + G2(s) R(s)

b. cascaded system signal-flow graph

c. parallel system nodes d. parallel system signal-flow graph

e. feedback system nodes f. feedback system signal-flow graph

Convert the block diagrams shown in the following figure to a signal

Convert the block diagrams shown in the following figure to

Convert the block diagrams shown in the following figure to

Label signals and draw a signal-flow graph for the block

• Mason’s rule for reducing a signal-flow graph to a single

Note: In some books, Tk is written as Pk and it

• Apply Mason’s Rule to calculate the transfer function of

L1 = G1G4 H 1 , 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 H1 − G1G2 G4 H 2 − G1G3G4 H 2 )

Eliminate forward path-2

• Apply Mason’s Rule to calculate the transfer function of

1. Calculate forward path gains for each forward path.

2. Calculate all loop gains.

3. Consider two non-touching loops.

4. Consider three non-touching loops.

• There is only one forward Path.

P1 = G1( s )G2 ( s )G3 ( s )G4 ( s )G5 ( s )

• Because the loops touch the

• Since no loops touch the

• No loops are non-touching, hence

• The two forward path gains are

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