Block Reduction, Signal flow

Graph and Mason’s Rule

• Individual subsystems represented by a block with
its input and output.
• A subsystem is represented as a block with an input,
an output and a transfer function. Many systems are
composed of multiple subsystems.
• When multiple subsystems are
interconnected, a few more schematic
elements must be added to the block diagram
such as summing junctions and pickoff points
Component of Block Diagram
• Some common topologies for interconnecting
subsystems and derive the single transfer
function representation for each of them.
• Common topologies will form the basis for
reducing more complicated systems to a single
block.
Cascade Form ( series)
Parallel Form
Feedback Form
 Rules of Block Diagram Reduction
• Before we begin to reduce block diagrams, it must be
explained that the familiar forms (cascade, parallel, and
feedback) are not always apparent in a block diagram.
• For example, in the feedback form, if there is a pickoff
point after the summing junction, you cannot use the
feedback formula to reduce the feedback system to a
single block.
• Some important basic block moves we should know
such as move blocks left and right past summing
junctions and pickoff points in order to establish
familiar forms.
• Block diagram algebra for summing junctions—
equivalent forms for moving a block to the left
past a summing junction
• Block diagram algebra for summing junctions—
equivalent forms for moving a block to the right
past a summing junction
• Block diagram algebra for pickoff points
equivalent forms for moving a block to the left
past a pickoff point
• Block diagram algebra for pickoff points
equivalent forms for moving a block to the right
past a pickoff point
 Example 1

Reduce the block diagram shown in Figure above

to a single transfer function.
STEP 1
• First the three summing
junctions can be
collapsed into a single
summing junction
STEP 2
• 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.
• The equivalent function is
H1(s) — H2(s) + H3(s).
• G2(s) and G3(s) are
connected in cascade. Thus,
the equivalent transfer
function is the product,
G3(s)G2(s).
STEP 3
• Finally, the feedback
system is reduced and
multiplied by G1(s) to
yield the equivalent
transfer function
 EXAMPLE 2

Reduce the system shown in to a single transfer function

• 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.
• Then push G1(s) to the right past the summing junction,
creating parallel subsystems in the feedback.
• Third, collapse the summing junctions, add the two
feedback elements together
• Then combine the last two cascaded blocks.
• Fourth, use the feedback formula to obtain above
figure.
• Finally, multiply the two cascaded blocks and obtain
the final result
Signal Flow Graphs
 Introduction:
• Signal-flow graphs are an alternative to block diagrams.
• Signal flow graphs are a pictorial representation of the simultaneous equations
describing a system.
• Signal flow graphs display the transmission of signals through the system, as does
the block diagrams, but it is easier to draw and easier to manipulate than the 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.
 Fundamentals of Signal Flow Graphs:
• Consider a simple equation below and draw its signal flow graph:

Xi = AijXj
• The signal flow graph of the equation is shown below;

• Every variable in a signal flow graph is designed by a Node.

• Every transmission function in a signal flow graph is designed by a Branch.
• Branches are always unidirectional.
• The arrow in the branch denotes the direction of the signal flow.

• The variables Xi and Xj are represented by a small dot or circle called a Node.
• The transmission function Aij is represented by a line with an arrow called a Branch.
• The Node Xi is called input node and Node Xj is called output node.
 Signal Flow Graph of Ohm’s Law:

• The Ohm’s law state that E = RI, where

E is a voltage,
I is a current, and
R is a resistance.

• The signal flow graph of the equation is given below;

 Signal Flow Graph Algebra:
1. The Addition Rule:

• The value of the variable designated by a node is equal to the sum of all signals
entering the node. This can be represented as;

• Example: The signal flow graph for the equation of a line in rectangular coordinates, Y
= mX + b, is given below. Since b is a constant it may be represent a node or a
transmission function.
2. The Transmission Rule:

• The value of the variable designed by a node is transmitted on every branch leaving
that node.

• Example: The signal flow graph of the simultaneous equations, Y=

3X, and, Z = -4X, is given in the figure below.
3. The Multiplication Rule:

• A cascaded or series connection of n-1 branches with transmission functions

, ,can be replace by a single branch with a new transmission
function equal to the product of the old ones. That is

• Example: The signal flow graph of the simultaneous equations Y = 10X, Z = -20Y, is
given in
 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, X2 to X3 back to X2, X1 to X2 to X4, are paths.
• 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.
• 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 when the transmission
function is a multiplicative operator. i.e., A33
• The path gain is the product of branch gains encountered in traversing a path. i.e.,
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.
 Converting Cascaded Block Diagram
into a Signal Flow Graph:

• First thing is to draw the signal nodes for the system.

• Next thing is to interconnect the signal nodes with system branches.
• The signal nodes for the system are shown in figure (a).
• The interconnection of the nodes with branches that represent the subsystem is
shown in figure (b).
 Converting Parallel System Block Diagram into a Signal
Flow Graph:

• First thing is to draw the signal nodes for the system.

• Next thing is to interconnect the signal nodes with system branches.
• The signal nodes for the system are shown in figure (c).
• The interconnection of the nodes with branches that represent the subsystem is
shown in figure (d).
Converting Feedback System Block Diagram into
a Signal Flow Graph:

• First thing is to draw the signal nodes for the system.

• Next thing is to interconnect the signal nodes with system branches.
• The signal nodes for the system are shown in figure (e).
• The interconnection of the nodes with branches that represent the subsystem is
shown in figure (f).
Example-1: Convert the block diagram into a signal flow graph:
• If desired, simplify the signal-flow graph to the one shown in Figure (c) by eliminating
signals that have a single flow in and a single flow out, such as V2(s), V6(s), V7(s), and
V8(s).
Example-2: Consider the signal flow graph below and identify
the following;

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.
Example-2: Answers
 Example-3: Consider the signal flow graph below and identify the following;

• There are four loop gains;

• There are two forward path gains; • Nontouching loop gains;

• Nontouching loops;
1.
 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.
 Mason’s Rule:
• The transfer function, T = C(s)/R(s), of a system represented by a signal-flow graph is;

Where

i = number of forward paths.

Pi = the i th forward-path gain.
Pjk = j th possible product of k nontouching loop gains.
∆ = 1 - ∑Pj1 + ∑Pj2 - ∑Pj3 +…..
= 1 - ∑ loop gains + ∑ gain products of two nontouching loops - ∑ gain products of three
nontouching loops + . . .
∆i = ∆ - ∑ loop gain terms in ∆ that touch the i th forward path: In other words;
∆i is formed by eliminating from ∆ those loop gains that touch the i th forward path.

• Two loops, paths, or loop and a path are said to be nontouching if they have no nodes in
common.
• ∆ is called the signal flow graph determinant or characteristic function. Since ∆=0 is the
system characteristic equation.
Example-4: Construct the signal flow graph of the block diagram of the
canonical feedback control system and find the control ratio C/R.

The characteristic function

Since the loop touch the forward path

Example-5: Determine the control ratio C/R and the canonical
block diagram of the feedback control system.
Example-5:Continue. (finding the control ratio C/R )
Example-5:Continue. (finding the canonical block diagram)
 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 P1, • Hence the control ratio T = C/R is
hence

• Since no loops touch the nodes of P2,

therefore
 Example-8a: Determine C/R of each of the following system
using the signal flow graph techniques.
• The signal flow graph of the block diagram is
shown below.

• The two forward paths gains are • No loops are non-touching, hence

• The two feedback loop gains are • Because both paths touch the feedback
loops at both interior nodes , hence

• Hence the control ratio is T =

 Example-8b: Determine C/R of each of the following system using
the signal flow graph techniques.
• The signal flow graph of the block diagram is
shown below.

• No loops are non-touching, hence

• The two forward paths gains are

• The forward path through G1 clearly

touches the feedback loop at nodes a and b;
thus ∆1 = 1.
• There is only one feedback loop gain is
• The forward path through G2 touches the
feedback loop at node a; then ∆2 = 1.

• Hence the control ratio is T =

Example-8c: Determine C/R of each of the following system using
the signal flow graph techniques.
• The signal flow graph of the block diagram is
shown below.

• No loops are non-touching, hence

• The two forward paths gains are

• The forward path through G1 clearly

touches the feedback loop thus ∆1 = 1.
• The only feedback loop gain is

• The feedback path does not touch the

forward path through G2 at any node;
therefore ∆2 = ∆ = 1 – G1H1.

• Hence the control ratio is T =

 Example-9: Find the transfer function C/R for the system in which k is constant.

• The only forward path gain is • The signal flow graph is shown in the figure.

• The two feedback loop gains are

• There are no non-touching loops, hence

• Hence the control ratio T is

• Both feedback loops touches the forward path, hence

 Example-10: 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 =

 Example-11: Determine C/R for the system given below using signal flow graph
techniques and then put G3 = G1G2H2.

• The signal flow graph of the above block diagram is shown in the figure below.

• The only forward path gain is

• There are no non-touching loops, hence

• The only feedback loop gain is

• The feedback loop clearly touches the two
forward paths, therefore

• Hence the control ratio T =