Signal Flow Graph

A COMPILATION OF LECTURE NOTES IN CONTROL SYSTEM
CHAPTER 7
CHAPTER 7
SIGNAL FLOW GRAPHS
7.1
DEFINITIONS
A Signal Flow Graph is a pictorial representation of the cause-andeffect relationship between the input and the output of a physical system,
just like Block Diagram. It graphically displays the transmission of signals
through the system but is easier to draw and easier to manipulate than
block diagram. The simplest form of a Signal Flow Graph would consist
of a single branch, with an input, transmittance, and output
A branch is terminated at both ends by nodes, represented by
thick dots, and the line whose arrow, situated in the middle, represents
the direction of the signal. Branches are always unidirectional.
7.2
SIGNAL FLOW GRAPH ALGEBRA

7.2.1 THE ADDITION RULE
The value of the variable designated by a node is equal to
the sum of all signals entering the node.
n
YI = TIJ RJ
J =1
7.2.2 THE TRANSMISSION RULE

The value of the variable designated by a node is
transmitted on every branch leaving that node.
Y1 = T1 K RK
Y2 = T2 K RK
Y4 = T4 K RK
Y5 = T5 K RK
Y3 = T3 K RK
7.2.3 THE MULTIPLICATION RULE

A cascaded (series) connection of n-1 branches (where n is the number of nodes)
with their respective individual transmission functions can be replaced by a single branch
with a new transmission function equal to the product of the original ones.
Tnew = T21T32T43
CATADMAN, LIZETTE IVY G.
X 4 = Tnew X 1 = [T21T32T43 ] X 1

7.3
CHAPTER 7
ADDITIONAL DEFINITIONS
A Path is a continuous, unidirectional succession of branches along which no node is passed

more than once. For example, X 1 to X 2 to X 3 to X 4 to X 5 ; X 1 to X 2 to X 4 to X 5 ; and X 3
to
X2.
An Input Node or Source is a node with only outgoing branches. For example,
input node.
X 1 is an
An Output Node or Sink is a node with only incoming branches. For example,
X 5 is an
output node.
A Forward Path is a path from the input node to the output node. For example,
to
X 1 to X 2
X 3 to X 4 to X 5 and X 1 to X 2 to X 4 to X 5 .
A Feedback Path or Feedback Loop is a path which originates and terminates on the same
node. For example, X 2 to X 3 back to X 2 .
A Self-Loop is a feedback loop consisting of a single branch. For example,
7.4
X 3 back to X 3 .
MASONS GAIN RULE
Masons Gain Rule is the formula used for finding the Transfer Function of a Single-Input,
Single-Output System of a Signal Flow Graph.
The Gain of a Branch is the transmission function of that branch when the transmission
function is a multiplicative operator.
The Path Gain is the product of the branch gains encountered in traversing a path.
The Loop Gain is the product of the branch gains encountered in traversing a loop.
The Determinant of the Signal Flow Graph or Characteristic Function, = 1 (Sum of all
the Loop Gains) + (Sum of products of the gains of all combinations of 2 non-touching loops)
(Sum of products of gains of all combinations of 3 nontouching loops) +
The Co-Factor of the Path is the determinant of the Signal Flow Graph formed by deleting all
loops touching the path.
The Co-Factor of the Path, k = 1 (Sum of all the Loop Gains not touching the Path) +
(Sum of products of the gains of all combinations of 2 non-touching loops not touching the Path)
(Sum of products of gains of all combinations of 3 nontouching loops not touching the Path) +
CHAPTER 7
Two loops are said to be touching if they have any node/s or branch/es in common;
otherwise, they are non-touching.
7.5
TRANSFER FUNCTIONS FOR SINGLE-INPUT,

GRAPHS USING MASONS GAIN RULE
T( s ) =
SINGLE-OUTPUT
SIGNAL
FLOW
P1 1 + P2 2 + P3 3 + ...
Example: Solve for the Transfer Function of the Signal Flow Graph using Masons Gain Rule.
Solution: Identify the Paths and Loops. Using the identified Paths and Loops, obtain the Path Gains
and Loop Gains.
For Paths:
6s
s
P1 = (1)(2 )
(3)(1) =
s+3
s+3
P 2 = (1)( 6 )(3 )(1) = 18
For Loops:
4s
s
L1 =
( 4 ) =
s+3
s + 3
s 3s
L 2 = (3 )
=
s + 1 s + 1
For Co-Factors:
1 = 1
2 = 1

The Determinant:
CHAPTER 7
4 s 3 s (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 )
=
+
(s + 3) (s + 1)
s + 3 s + 1
= 1 (L1 + L 2 ) = 1
The Transfer Function:
6s
(1) + ( 18 )(1)
Y ( s ) P11 + P 2 2
s+3
=
=
T( s ) =
(s + 3) (s + 1) + 4 s (s + 1) + 3s (s + 3)
R( s )
(s + 3) (s + 1)
6 s 18(s + 3 )
(s + 1) [6 s 18(s + 3)]
Y( s )
s+3
=
=
T( s ) =
R( s ) (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 ) (s + 3 ) (s + 1) + 4 s (s + 1) + 3 s (s + 3 )
(s + 3) (s + 1)
Example: Solve for the Transfer Function of the Signal Flow Graph using Masons Gain Rule.
Solution: Identify the Paths and Loops. Using the identified Paths and Loops, obtain the Path Gains
and Loop Gains.
For Paths:
1 8 11
P1 = (1) 2
(1)
s +4 s+8 s s
8
P1 = 2
s (s + 8 ) s 2 + 4
For Loops:
1 1
1 1
P 2 = (1)
2
(10 ) (1)
s + 1 s + s
s s
10
10
= 3
P2 =
2
2
(s + 1) s + s s s (s + 1)2
)( )
4
1
L1 = ( 4 ) 2
=
s + s s (s + 1)
8 56
L4 = ( 7 )
=
s +8 s +8
CHAPTER 7
30
11 3 s
L3 = (10 )
=
s s s + 3 s + 2 s (s + 3 )(s + 2 )
1 6
L5 = ( 6 ) =
s
s
L2 = s
For Co-Factors:
s (s + 1) + 4 + s 2 (s + 1) + 4 s
4
4
[
]
s
+ ( s ) +
=
s (s + 1)
s (s + 1)
s (s + 1)
1 = 1 (L1 + L 2 ) + (L1L 2 ) = 1
2 = 1 (L 2 ) = 1 ( s ) = 1 + s = s + 1
The Determinant:
= 1 (L1 + L 2 + L3 + L4 + L5 ) + (L1L 2 + L1L4 + L1L5 + L 2 L4 + L 2 L5 ) (L1L 2 L4 + L1L 2 L5 )

4
56 6
30
+ ( s ) +
+
+ +
s (s + 3 )(s + 2 ) s + 8 s
s (s + 1)
= 1
( s ) + 4 56 + 4 6 + ( s ) 56 + ( s ) 6
s + 8
s
s (s + 1)
s (s + 1) s + 8 s (s + 1) s
4

( s ) 56 + 4 ( s ) 6

s + 8 s (s + 1)
s
s (s + 1)
- 4 (s + 2 )(s + 3 )(s + 8 ) s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 ) + 30 (s + 1) (s + 8 )
+
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
= 1
56 s (s + 1)(s + 2 )(s + 3 ) 6 (s + 1)(s + 2 )(s + 3 )(s + 8 )

+
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
4
224
24
56 s
224
24
+
+ 6
+
+ 2
(s + 1) s(s + 1)(s + 8 ) s (s + 1) s + 8
(s + 1)(s + 8 ) s (s + 1)
The Determinant:
CHAPTER 7
- 4 (s + 2 )(s + 3 )(s + 8 ) s 2 (s + 1)(s + 2 )(s + 3)(s + 8 ) + 30 (s + 1) (s + 8 )

s (s + 1)(s + 2 )(s + 3)(s + 8 )
= 1
56 s (s + 1)(s + 2 )(s + 3 ) 6 (s + 1)(s + 2 )(s + 3)(s + 8 )

+
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
4 s 2 (s + 8 ) + 224 s + 24 (s + 8 ) + 56 s 3 (s + 1)(s + 8 ) + 6 s 2 (s + 1)(s + 8 ) - 224s - 24 (s + 8 )
2
(
)(
)
+
+
s
s
1
s
8
s (s + 1)(s + 8 )
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 ) 4 s 2 (s + 2 )(s + 3 )(s + 8 ) + s 3 (s + 1)(s + 2 )(s + 3 )(s + 8 )
=
+
+
2
s (s + 1)(s + 2 )(s + 3 )(s + 8 )
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 )
( 30 ) s 2 (s + 1)(s + 8 ) + 56 s 2 (s + 1)(s + 2 )(s + 3) + 6 s (s + 1)(s + 2 )(s + 3)(s + 8 ) +

s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 )
4 s 2 (s + 2 )(s + 3 )(s + 8 ) + 224 s (s + 2 )(s + 3 ) + 24 (s + 2 )(s + 3 )(s + 8 ) + 56 s 3 (s + 1)(s + 2 )(s + 3 )(s + 8 )
+
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 )
6 s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 ) + 224 s 2 (s + 2 )(s + 3 ) + 24 s (s + 2 )(s + 3 )(s + 8 )
+
s 2 (s + 1)(s + 2 )(s + 3 )(s + 8 )
s (s + 1) + 4 + s 2 (s + 1) + 4 s 10
8
(s + 1)
+ 3
2
2
2
s (s + 1)
s (s + 1)
Y ( s ) P11 + P 2 2 s (s + 8 ) s + 4
T( s ) =
=
=
R( s )
7.6
8 s (s + 1) + 4 + s 2 (s + 1) + 4 s
10
+ 3
3
2
s (s + 1)(s + 8 ) s + 4
s (s + 1)
T( s ) =
]
(
8 s (s + 1) + 4 + s 2 (s + 1) + 4 s + 108 (s + 8 ) s 2 + 4
s 3 (s + 1)(s + 8 ) s 2 + 4
TRANSFER FUNCTIONS FOR MULTIPLE-INPUT, MULTIPLE-OUTPUT SIGNAL FLOW

GRAPHS USING SUPERPOSITION METHOD AND MASONS GAIN RULE
The Superposition Method solves for the Transfer Functions by transforming the MultipleInput, Multiple-Output System into a simplified Single-Input, Single-Output System which would
represent the relationship between a certain input with a particular output.
Step
Step
Step
Step
1:
2:
3:
4:
Step 5:
Step 6:
Ignore all outputs except the one being considered.

Set all inputs, except the one being considered, to be equal to zero.
Draw the resulting Single-Input, Single-Output Signal Flow Graph.
Solve the Transfer Function of the resulting Single-Input, Single-Output Signal Flow
Graph using Masons Gain Rule.
Repeat Steps #2 to #4 for each of the remaining inputs.
When all inputs have been considered, take the next output and repeat Steps #1 to
#5. Do this process for each of the remaining outputs.
TIJ ( s ) =
YI ( s ) P1 1 + P2 2 + P3 3 + ...
=
RJ ( s )
CHAPTER 7
Example: Solve for the Transfer Functions of the Signal Flow Graph using Masons Gain Rule.
Solution: It is advisable to obtain the Loop Gains first and the Determinant. The loops are usually
the same regardless whichever input and output combination is being considered.
For Loops:
s 4s
L1 = ( 4 )
=
s+2 s+2
The Determinant:
40
1 1
L 2 = ( 4 )
(10 ) =
s (s + 3 )
s s +3
4 s 40 s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
=
+
s (s + 3 )(s + 2 )
s + 2 s (s + 3 )
= 1 (L1 + L 2 ) = 1
Ignore
Y 2( s ) , Set R 2( s ) = 0
For Paths:
s
s
P1 = (1)
(1) =
s+2
s+2
10
1 1
P 2 = (1)
(10 )(1) =
s (s + 3 )
s s +3
For Co-Factors:
1 = 1
2 = 1

CHAPTER 7
10
s
(1) +
(1)
Y 1( s ) P11 + P 2 2
s + 2
s (s + 3 )
T11 ( s ) =
=
=
R1( s )
s (s + 3)(s + 2 ) + 4 s 2 (s + 3) + 40(s + 2 )
s (s + 3)(s + 2 )
s 2 (s + 3) + 10 (s + 2 )
Y 1( s )
s (s + 3)(s + 2 )
s 2 (s + 3 ) + 10 (s + 2 )
=
T11 ( s ) =
=
R1( s ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
s (s + 3 )(s + 2 )
Ignore
Y 2( s ) , Set R1( s ) = 0
For Path:
10
1
P1 = (1)
(10 ) =
s+3
s +3
For Co-Factor:
1 = 1
10
(1)
Y 1( s ) P11
10 s (s + 2 )
s+3
=
=
=
T12 ( s ) =
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
R 2( s )
s (s + 3 )(s + 2 )
Ignore
Y 1( s ) , Set R 2( s ) = 0

For Path:
CHAPTER 7
1
1 1
P1 = (1)
(1) =
s (s + 3 )
s s +3
For Co-Factor:
1 = 1
1
s (s + 3 ) (1)
Y 2( s ) P11
s+2
T21 ( s ) =
=
=
=
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40(s + 2 )
R1( s )
s (s + 3 )(s + 2 )
Ignore
Y 1( s ) , Set R1( s ) = 0
For Path:
1
1
P1 = (1)
(1) =
s+3
s +3
For Co-Factor:
4 s (s + 2 ) + 4 s 5 s + 2
=
=
s+2
s+2
s+2
1 = 1 L1 = 1
CHAPTER 7
1 5s + 2
Y 2( s ) P11
s (5 s + 2 )
s+3 s+2
T22 ( s ) =
=
=
=
2
s (s + 3 )(s + 2 ) + 4 s (s + 3 ) + 40(s + 2 ) s (s + 3 )(s + 2 ) + 4 s 2 (s + 3 ) + 40 (s + 2 )
R 2( s )
s (s + 3 )(s + 2 )
7.7
CONVERSION BETWEEN A SIGNAL FLOW GRAPH AND A BLOCK DIAGRAM

BLOCK DIAGRAM
SIGNAL FLOW GRAPH
When given a Block Diagram to be converted to a Signal Flow Graph, assign node numbers
to all inputs and outputs of the Block Diagram. For summing points and takeoff points, using the
conversion above, determine whether it will translate into a single node or two separate nodes;
then, assign their respective node numbers.
Also, recall the concept of summing points wherein cascaded (series) summing points can
be combined into a single summing point; and cascaded (series) takeoff points can also be
combined into a single takeoff point. Thus, a single node will represent such summing points and
takeoff points, respectively.
Example: Convert the Block Diagram to its equivalent Signal Flow Graph and solve for the Transfer
Function Using Masons Gain Rule.
Solution: Convert the block diagram to its equivalent signal flow graph. Then, identify the paths
and loops and obtain their gains.
CHAPTER 7
For Path:
3
1 3
P1 = (1)
(1) =
(s + 1)(s + 4 )
s +1 s + 4
For Loops:
3
1 3
L1 =
( 1) =
(s + 1)(s + 4 )
s + 1 s + 4
1
1
L2 =
( 1) =
s+1
s + 1
For Co-Factor:
1 = 1
The Determinant:
3
1 (s + 1)(s + 4 ) + 3 + (s + 4 ) (s + 2 )(s + 4 ) + 3
=
+
=
(s + 1)(s + 4 )
(s + 1)(s + 4 )
(s + 1)(s + 4 ) s + 1
= 1 (L1 + L 2 ) = 1
3
(s + 1)(s + 4 ) (1)
Y ( s ) P11
3
T( s ) =
=
=
=
(s + 2 )(s + 4 ) + 3 (s + 2 )(s + 4 ) + 3
R( s )
(s + 1)(s + 4 )
Example: Convert the Block Diagram to its equivalent Signal Flow Graph and solve for the Transfer
Functions Using Masons Gain Rule.
Solution:

For Loops:
L1 = G1G 2 (1)( H 1) = G1G 2 H 1
L 2 = G 2 ( H 2 ) = G 2 H 2
The Determinant:
= 1 (L1 + L 2 ) = 1 [( G1G 2 H 1) + ( G 2 H 2 )] = 1 + G1G 2 H 1 + G 2 H 2
Set
R 2( s ) = R 3( s ) = R 4( s ) = 0
For Path:
P1 = (1)(G1)(G 2 )(1) = G1G 2

For Co-Factor:
1 = 1
T11 ( s ) =
Set
Y ( s ) P11
G1G 2
=
=
R1 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 3( s ) = R 4( s ) = 0
CHAPTER 7

For Path:
P1 = (1)(G 2 )(1) = G 2
For Co-Factor:
1 = 1
T12 ( s ) =
Set
Y ( s ) P11
G2
=
=
R2 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 2( s ) = R 4( s ) = 0
For Path:
P1 = ( 1)(G 2 )(1) = G 2
For Co-Factor:
1 = 1
CHAPTER 7

T13 ( s ) =
Set
Y ( s ) P11
G2
=
=
R3 ( s )
1 + G1G 2 H 1 + G 2 H 2
R1( s ) = R 2( s ) = R 3( s ) = 0
For Path:
P1 = (1)( H 1)(G1)(G 2 )(1) = G1G 2 H 1
For Co-Factor:
1 = 1
T14 ( s ) =
7.8
G1G 2 H 1
Y ( s ) P11
=
=
R4 ( s )
1 + G1G 2 H 1 + G 2 H 2
PROBLEM SETS
7.8.1 SINGLE-INPUT, SINGLE-OUTPUT SIGNAL FLOW GRAPHS
A.
CHAPTER 7

B.
C.
D.
7.8.2 MULTIPLE-INPUT, MULTPILE-OUTPUT SIGNAL FLOW GRAPHS

A.
CHAPTER 7

B.
CHAPTER 7
C.
7.8.3
TRANSFORMATION OF BLOCK DIAGRAMS TO ITS EQUIVALENT SIGNAL

FLOW GRAPHS
Instructions: Transform the Block Diagrams to its equivalent Signal Flow Graphs;
then, solve the Transfer Function using Masons Gain Rule.
1.
Single-Input, Single-Output
A.
B.
C.

2.
Multiple-Input, Multiple-Output
CHAPTER 7
A.
B.
SOURCES/ REFERENCES
Distefano, Joseph III J., Allen R. Stubberub, and Ivan J. Williams. Schaums Outlines: Feedback
and Control Systems, Second Edition. USA: McGraw-Hill Companies, Inc., 1995.
Hostetter, Gene H., Clement J. Savant Jr., and Raymond T. Stefani. Design of Feedback Control
Systems, 2nd Edition. USA: Saunders College Publishing, 1989.

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A COMPILATION OF LECTURE NOTES IN CONTROL SYSTEM