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Control Systems

Block Diagrams and Signal Flow Graphs (SFGs)

Slides Credit: Dr. Naseer Ahmad

Department of Mechanical Engineering

University of Engineering and Technology (UET), Lahore

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 B.C.KUO

The block diagrams modeling provide control engineers a better understanding of the composition and
interconnection of the components of control systems.

Input Process/Plant Output

Bicycle
Input f(t) Mass m(kg) Speed v(t)

Intro to SFG
U(s) G(s) X(s)
Node
Branch
X(s) = U(s) G(s)
Signal Flow Graphs:
Signal-flow graphs are an alternative to block diagrams.
Unlike block diagrams, which consist of blocks, signals, summing junctions, and pickoff points,
a signal-flow graph consists only of branches, which represent systems, and nodes, which represent
signals.
A system is represented by a line with an arrow showing the direction of signal flow through the
system.
Adjacent to the line we write the transfer function.
A signal is a node with the signal’s name written adjacent to the node.

Definitions:
Node: A small circle to define a variable is known as node.
Branch: A line segment to connect nodes.
Path: Succession of branches is known as path.
Forward Path: Starts from input node and ends at output node.
Forward Path Gain: Multiplication of branch gains in forward path.
Loop: A path that starts and ends at the same node (without branch and node repetition)
Loop gain: Multiplication of branch gains in loop.
Draw the SFGs of this BLOCK Diagram

U(s) G1(s) A(s) G2(s) X(s)

A(s) = U(s) G1(s)

X(s) = A(s) G2(s)

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 R(s) U(s) Y(s)
Draw the SFGs of this BLOCK Diagram

1
-H(s)
U(s) = R(s).(1) – H(s).Y(s)

R(s) U(s) G(s) Y(s)

1
-H(s)
U(s) = R(s).(1) – H(s).Y(s)

Y(s) = U(s) G(s)

 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E Y3 Y2 Y1 Y0 Y

E=R-Y

-1 7
 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E 1 Y3 Y2 Y1 Y0 Y

E=R-Y
Y3 = E – H1Y1
-1
-1
 Definitions:

Node
Y0
Branch
Path
Forward Path
Forward Path Gain
Loop
Draw the SFGs of this BLOCK Diagram and compute Y/X Loop gain

R 1 E 1 Y3 G1 Y2 G2 Y1 G3 Y0 Y

E=R-Y
Y3 = E – H1Y1
Y2 = Y3 G1
Y1 = Y2 G2 -1
Y0 = Y1 G3 -1
 Definitions:

Node
Y0 Branch
Path
Forward Path
Forward Path Gain
Loop
Loop gain
G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

E=R-Y
Y2
Y3 = E – H1Y1
Y2 = Y3 G1 -H1
Y1 = Y2 G2
Y0 = Y1 G3 -1
Y = Y0 + Y2G4
E=R-Y G4
Y3 = E – H1Y1 R E Y3 G1 G2 Y1 G3 Y0 Y
1 1 1
Y2 = Y3 G1
Y1 = Y2 G2 Y2
Y0 = Y1 G3
-H1
Y = Y0 + Y2G4

Definitions: -1

Node: A small circle to define a variable is known as node.

Branch: A line segment to connect nodes.
Path: Succession of branches is known as path.
Forward Path: Starts from input node and ends at output node.
Forward Path Gain: Multiplication of branch gains in forward path.
Loop: A path that starts and ends at the same node (without branch and node repetition)
Loop gain: Multiplication of branch gains in loop.
 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

-H1

-1

M1 = 1.1.G1.G2.G3.1 = G1G2G3
M2 = 1.1.G1.G4 = G1G4

Definitions:

Forward Path: Starts from input node and ends at output node.
Forward Path Gain: Multiplication of branch gains in forward path.
 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

-H1

-1

L1 = 1.G1.G2. G3.1.(-1) = -G1G2G3

L2 = G1.G2.(-H1)= -G1G2H1
L3 = 1.G1.G4(-1) = -G1G4

Definitions:

Loop: A path that starts and ends at the same node (without branch and node repetition)
Loop gain: Multiplication of branch gains in loop.
Mason Gain Formula:
Given an SFG or block diagram, the task of solving for the input-output relations by algebraic
manipulation could be quite tedious. Fortunately, there is a general gain formula available
that allows the determination of the input-output relations of an SFG by inspection.

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 G4
R 1 E 1 Y3 G1 G2 Y1 G3 Y0 1 Y

Y2

𝑌 𝑀1 Δ1 + 𝑀2 Δ2 -H1
= M1 = 1.1.G1.G2.G3.1 = G1G2G3
𝑅 Δ
-1
M2 = 1.1.G1.G4 = G1G4
Δ = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 + 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
Δ = 1 − 𝐿1 + 𝐿2 + 𝐿3 + 0 = L1 = 1.G1.G2. G3.1.(-1) = -G1G2G3
Δ = 1+G1G2G3+G1G2H1+G1G4 L2 = G1.G2.(-H1)= -G1G2H1
Δ1 = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡ℎ 𝑀1
L3 = 1.G1.G4(-1) = -G1G4
Δ1 = 1 − 0 = 1
Δ2 = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡ℎ 𝑀2
Δ2 = 1 − 0 = 1

𝑌 G1G2G3 + G1G 4
=
𝑅 1+G1G2G3+G1G2H1+G1G4
 𝑌 G1G2G3 + G1G4
=
𝑅 1+G1G2G3+G1G2H1+G1G4

R G1G2G3 + G1G4 Y
1+G1G2G3+G1G2H1+G1G4

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 Y1 Y3
Y2 Y4
Y5

Draw the SFGs of this BLOCK Diagram and compute Y/X

X Y1 Y2 Y3 Y4 Y5 Y

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 Y3 Y1 = X – H3Y4
Y1
Y2 Y4 Y2 =Y1+ Y3 H1
Y5
Y3 = Y2 G1
Y4 = Y3 G2
Y5 = Y4G3
Y =Y5+ Y3 H2

Draw the SFGs of this BLOCK Diagram and compute Y/X

X Y1 Y2 Y3 Y4 Y5 Y

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 H2

X Y1 Y2 G1 G2 Y4 G3 Y5
1 1 1

Y3 Y

H1

Y1 = X – H3Y4 -H3
Y2 =Y1+ Y3 H1
Y3 = Y2 G1
Y4 = Y3 G2
Y5 = Y4G3
Y =Y5+ Y3 H2
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20
21
 H2
X Y1 Y2 G1 G2 Y4 G3 Y5
1 1 1

Y3 Y
H1

𝑌 𝑀1 Δ1 + 𝑀2 Δ2 -H3
= M1 = 1.1.G1.G2.G3.1 = G1G2G3
𝑋 Δ
M2 = 1.1.G1.H2 = G1H2
Δ = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 + 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
Δ = 1 − 𝐿1 + 𝐿2 + 0 = L1 = 1.G1.G2.(-H3) = -G1G2H3
Δ = 1+G1G2H3-G1H1 L2 = G1(H1)= G1H1
Δ1 = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡ℎ 𝑀1
Δ1 = 1 − 0 = 1
Δ2 = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑓𝑜𝑟𝑤𝑎𝑟𝑑 𝑝𝑎𝑡ℎ 𝑀2 22

Δ2 = 1 − 0 = 1

𝑌 G1 G2 G3 + G1 H2 22
=
𝑋 1+G1G2H3−G1H1
𝑌5 𝑀1 Δ1 + 𝑀2 Δ2 M1 = 1.1.G1.G2.G3.1 = G1G2G3
=
𝑌1 Δ
M2 = 1.G4.G3 = G4G3

Δ1 = 1 − 0 = 1
Δ2 = 1 − 0 = 1
Δ = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
+ 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
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𝑌4 𝑀1 Δ1 + 𝑀2 Δ2 M1 = 1.1.G1.G2 = G1G2
=
𝑌1 Δ
M2 = 1.G4. = G4
𝑌4 G1G2 + G4
= Δ1 = 1 − 0 = 1
𝑌1 Δ
Δ2 = 1 − 0 = 1
Δ = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
+ 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
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𝑌2 𝑀1 Δ1
= M1 = 1 = 1
𝑌1 Δ
Δ1 = 1 − −G3H2 = 1 + 𝐺3𝐻2
𝑌2 1+G3H2
= Δ = 1 − 𝑠𝑢𝑚 𝑜𝑓 𝑎𝑙𝑙 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠
𝑌1 Δ
+ 𝑡𝑤𝑜 𝑛𝑜𝑛𝑡𝑜𝑢𝑐ℎ𝑖𝑛𝑔 𝑜𝑓 𝑙𝑜𝑜𝑝 𝑔𝑎𝑖𝑛𝑠

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26
Solution:
Define Variables at different locations

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 Y1 Y2 Y3

Solution:
▪ Define Variables at different locations
▪ Write equations of every variable
▪ Draw SFGs and compute 28
 Y1 Y2 Y3

N
2
10
1
R 1 1 E s+2 Y1 1 Y2 Y3 Y Y
s ( s + 1) 1 1

R
−0.5s

-1 29
 N
2
10
1
R 1 1 E s+2 Y1 1 Y2 Y3 Y Y
s ( s + 1) 1 1

R
−0.5s

-1
31
 Y1 Y2

N
-Gd
1
s+5 10
1 E s + 10 Y1 s( s + 5) Y2 1 Y
Y 1

-1
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 N
-Gd
1
s+5 10
1 E s + 10 Y1 s( s + 5) Y2 1 Y
Y 1

R Y (s) M  + M 22
= 1 1
N ( s ) R ( s )=0 

s+5 10
1 − Gd . .
-1 Y (s) s + 10 s ( s + 5)
=
Y (s) M  + M 22 N ( s ) R ( s ) =0 
= 1 1
N ( s ) R ( s )=0 
To eliminate the effect of N on Y we
M1 = 1 = 1
s+5 10
M2 = −Gd . .
s + 10 s ( s + 5)
Δ1 = 1 − 0 = 1

Δ2 = 1 − 0 = 1
s+5 s+5 10 33
L1 = −1. .
10  = 1 − L1 = 1 − (−1. . )
s + 10 s ( s + 5) s + 10 s ( s + 5)
Y1

34
 Y1

1
K ( s + 3)
1 E Y1 1
s ( s + 1)( s + 2) Y 1 Y

R
-H(s)

35

-1
 N

1
K ( s + 3)
1 E Y1 1
s ( s + 1)( s + 2) Y 1 Y

R Y (s) M
-H(s) = 1 1
N ( s ) R ( s )=0 
K ( s + 3)
1 + H ( s ).
Y (s) s ( s + 1)( s + 2)
=
-1 N ( s) R ( s )=0 
Y (s) M
= 1 1 To eliminate the effect of N on Y we
N ( s ) R ( s ) =0 
M1 = 1 = 1
K ( s + 3)
1 = 1 − L 2 = 1 + H ( s).
s ( s + 1)( s + 2)
K ( s + 3) K ( s + 3)
L1 = −1. L 2 = − H ( s ).
s ( s + 1)( s + 2) s ( s + 1)( s + 2)

K ( s + 3) K ( s + 3)
 = 1 − ( L1 + L 2) = 1 − (−1. − H ( s). ) 36
s ( s + 1)( s + 2) s ( s + 1)( s + 2)
 N

1
K ( s + 3)
1 E Y1 1
s ( s + 1)( s + 2) Y 1 Y
E (s) M
= 1 1
R R( s ) N ( s )=0 
-H(s)
E ( s) 1
=
R( s) N ( s )=0 1 + K ( s + 3) K ( s + 3)
+ H ( s ). )
s ( s + 1)( s + 2) s ( s + 1)( s + 2)
-1
Put H(s) from previous solution
E (s) M 11
=
R( s ) N ( s ) =0 

M1 = 1 = 1
1 = 1
K ( s + 3) K ( s + 3)
L1 = −1. L 2 = − H ( s ).
s ( s + 1)( s + 2) s ( s + 1)( s + 2)
K ( s + 3) K ( s + 3)
 = 1 − ( L1 + L 2) = 1 − (−1. − H ( s). ) 37
s ( s + 1)( s + 2) s ( s + 1)( s + 2)
Homework/Practice Problems

3.7
3.9
3.12
3.16
3.21
3.22
3.28
3.29
3.33
3.37
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End of Lecture

Jaza k Allah
Question and Answer
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