SIGNAL FLOW GRAPHS

The block diagram is a useful tool for simplifying the representation of a system. When
inter coupling exists between feedback loops and when a system has more than one input and
one output, the control system and block diagram are more complex. Having the block diagram
simplifies the analysis of a complex system. Such an analysis can be further simplified by using a
Signal flow Graph ( SFG ), which looks like a simplified block diagram.

An SFG is a diagram which represents a set of simultaneous equations. It consists of a

graph in which nodes are connected by directed branches. The nodes represent each of the
system variables. A branch connected between two nodes acts as a one-way signal multiplier,
the direction of signal flow is indicated by an arrow placed on the branch and the multiplication
factor ( transmittance/transfer function) is indicated by a letter placed near the arrow.

Illustration:

a
8------IMlliililll
....- - - - - - - • •

The branch transmit the signal X1 from left to right and multiplies it by quantity a in the
process. The quantity a is the transmittance ortransfer function. It may also be indicated by
a = t 12 , where the subscript show that the signal flow is from Node 1 to Node 2.

Flow Graph Definition:

A node performs two functions:

1) Addition of the signals on all incoming branches.
2) Transmission of the total node signal to all outgoing branches.

u XJI}
0
'' c~-
'
a-, /
,,
/
/

wG

b~
'd
/

'
vO y 'a;>

w = au + bv X = CW y = dw

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There are three types of nodes that are of particular interest:

a) Source Nodes - ( independent nodes ) these represents independent variables and have
only outgoing branches.
b) Sink Nodes - ( dependent nodes ) these represents dependent variables and have only
incoming branches.
c) IVlixed Nodes - ( general nodes) these have both incoming and outgoing branches. A
mixed node maybe treated as a sink node by adding an outgoing branch of unity
transmittance.

Path - is any connected sequence of branches whose arrows are in the same direction.

Forward Path - a forward path between two nodes is one which follows the arrows of
successive branches and in which a node appears only once.

Self-loop - is a feedback loop consisting of a single branch.

Flow - 1:;raph Algebra

The following rules are useful for simplifying a signal flow graph.

Series Pc1ths (cascades) - series paths can be combined into a single path by multiplying the
transmittances.

,_X____..
a...,--.Jye--•IU~ > =

Gain - of a branch is the transmission function of that branch when the transmission function is
a multiplicative operator.
Path Gain -the product of the transmittances in a series path.

Parallel Paths - parallel paths can be combined by adding the transmittances.

= e--- ....----e
- - - 1 . ......,
..

X (a+b) y

Node Absorption - a node representing a variable other than a source or sink can be
eliminat,~d.
w
w
0 0

,...___ 0 z
...._
y C z
0 == 0
= X b~
0
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I

Feedbad, Loop - a closed path which starts at a node and end at the same nodes.

Loop Gain - the product of the transmittances of a feedback loop.

a
=
1 + a/J

+b

CONSTFtUCTION OF SIGNAL FLOW GRAPHS

The signal flow graph of a linear feedback control system whose components are specified
by non-inter-acting transfer functions can be constructed by direct reference to the block
diagram of the system. Each variable of the block diagram becomes a node and each block
becomes a branch.

Example: The block diagram of the canonical feedback control system is given by:

_R_ 1~q,+0 E_ _ ~ - -
__
+

The .signal flow graph can be easily constructed. Note that the - or+ sign of the summing
point is associated with H.

0 - --~- - -~ -Q
I
R 1 E C

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 The signal flow graph of a system described by a set of simultaneous equations can be
constructed in the following general manner.

1) 'v\'rite the system equations in the form:

X1 = A11X1 + A12X12 + A13 X13 + ... ... .. .. ... ... .. .. .... .. + A1nXn

X2 = A21X1 + A22X2 + A23X3 + ........................... + A2nXn

An equation for X1 is not required if X1 is an input node.

2) Arrange the morn (whichever is larger) nodes from left to right. The nodes maybe
rearranged if the required loops later appear too cumbersome.
3) Connect the nodes by the appropriate branches A11, A12, A13, etc...
4) If the desired output node has outgoing branches, add a dummy node and a unity gain
branch.
S) Rearrange the nodes and/or loops in the graph to maximum pictorial clarity.

Sample Problems:

1) Construct the signal flow graph for the following set of simultaneous equations:

a) x2 = 3ax1

2d2x <lx1
b) X3 = --
2
+
dt dt

c) x2 = Ax1 + Bx2

d) X2 = A21X1 + A23X3
X3 = A31X1 - A32X2 + A33X3
X4 = A42X2 + A43X3

Solution:

a) X2 = 3ax1

X1 3a
Et; fi?M Ii#&-)? G)

87
 2d2x dx1
b) X3 = -- + - X1
dt 2 dt

d2
X2 X3
dt 2
G - - ' >

<1
dt

X1 A ( X3

I• -?--- -- - ---i >

-0

d) X2 = A21X1 + Az3X3
X3 = A31X1 A32X2 + A33X3
X4 = A42X2 + A43X3

t
-A32
>-

-
88
 2) Draw the signal flow graph of an RLC series circuit. Assume V(t) be the input of the
system and the voltage across C be the output of the system. Let X1 be the current
flowing on the inductor and X2 be the voltage across C.

Solution:

Let U(s) = V(t) and Y(s) = vC

X2 = vC

Using KVL:

V(t) = vR + vl + vC

U(s) = RX1 + LX1 + X2

Therefore:

( 1)

But:

vC = X 2 = ! f idt
C

(2)

For output:

Y1sl = vC = X 2 (3)

Equivalent Signal-Flow graph:

-R/L

1/s 1/C 1/s 1 Y(s)

r=-') -~ ()--r=-=> ------o
X2 2

-1/L

89
 3) Dr.aw the equivalent signal flow graph of the given electrical system below. Assume V(tl be
the input of the system and the current flowing through R3 be the output of the system.
Let X1 be the current flowing on L1 , X2 be the voltage across Cand X3 be the current
flowing through Li.

C a R2

-~II-
h

ii L2

V(t)

II

·----------- --- ----- - ---

Solution:

U( s) = V( t) X1 = h X2 = vC

Using l<CL:

At node a:

11 = h + h

(a)

Using KVL:

At Loop I:

V( t l = vR1 + vR3 + vC + vL1

( 1 )

90

l
 At Loop II:

U(s) - RtXt - ( Rt + Rz ) X3
X3 = (2)
Lz

Also;

vC = X2 =
C
f i 2 dt = ¾f X1 dt (derive)

1
= -X1 ( 3 )
C

But:

( 4)

Equivalent Signal Flow Graph:

1
L1

- ( R1 + Rz )
1
Lz

1 - Rt
-C1 -s1
_.lli _ ___.S' c:..:> _L1-=4="">--·..,_
~-0---=)
X3 X2 2

- Rt -1
Lz Lt

91