Hanani Abd Wahab BDA 3073 16 July 2008

Hanani Abd Wahab
BDA 3073
16 July 2008
Contents
 Block Diagram
 Transfer Function
 Signal Flow Graph
Transfer Function
Definition
 Transfer function G(s) of a linear system is defined
as the ratio of the Laplace transform of the output
variable to the Laplace transform of the input
variable, with all initial conditions assumed to be
zero
Output (s)
G (s) 
Input(s)
Transfer Function
Exercise:
Find the transfer function of the following
differential equation
y (t )  5 y (t )  4 y (t )  u (t )
Y(s) 1
 2
U(s) s  5s  4
Transfer Function
 Given the following transfer function G(s)
A(s)
G (s) 
B(s)
 The roots of the numerator A(s) are called zeros.
 The roots of the denominator B(s) are called poles.
 The denominator of a transfer function is called
characteristic equation.
Block Diagram
 Let’s consider the DC motor model
di
v in  L  Ri  K e 
dt
T  K ti
T  J  b
 Transfer function?
Block Diagram
 A block diagram is a convenient tool to visualize the
systems as a collection of interrelated subsystems
that emphasize the relationships among the system
variables.
G (s )
input output
Y(s)  G (s)R (s)

Block Diagram
 Three Elementary Block Diagrams
 Series connection
 Parallel connection
 Negative Feedback connection
Block Diagram
 Block diagram algebra
Block Diagram
Exercise:
Find the transfer function of the following block
diagram
Y(s) 2s  4
 2
R (s) s  2s  4
Block Diagram
Exercise:
Let’s consider the DC motor model
di
v in  L  Ri  K e 
dt
T  K ti
T  J  b
 Block diagram?
Block Diagram
Exercise:
Signal Flow Graph
Signal Flow Graph
 For a system with complex interrelationships, the block

diagram reduction is cumbersome and often quite
difficult to complete.
 Signal-flow graph is an alternative method for
determining relationship between system variables.
Signal Flow Graph
Basic Concept
 A signal flow-graph consists of branches, which
represents system/subsystem transfer function,
and nodes which represent signal (input/output
point)
System
 ( s )  G ( s )V f ( s )
Input node Output node

Signal Flow Graph
Exercise:
Signal Flow Graph
Block Diagram to Signal Flow Graph
Signal Flow Graph
Signal Flow Graph
Signal Flow Graph
Signal Flow Graph
Signal Flow Graph
Terminologies
Signal flow graph terminologies which are used to
determine the transfer function
 Forward-path gain
 Loop gain
 Non-touching loop gain
Summary
Signal Flow Graph
Forward Path Gain
 Forward-path gain: The product of gains found by
traversing a path from the input node to the output
node of the signal-flow graph.
Two forward-path gains: ?

Signal Flow Graph
Loop Gain
 Loop gain: The product of branch gains by traversing a path
that starts at a node and ends at same node without
passing trough any other node more than once and
following the direction of the signal flow.
Four loop gains: ?

Signal Flow Graph
Non-touching Loop Gain
 Nontouching loop: Loops that do not have any
node in common.
Nontouching loops ?
Signal Flow Graph
Non-touching Loop Gain
 Nontouching loop gain: The product of loop gains
from nontouching loops taken two, three, four, etc.
Nontouching loop gains?

Signal Flow Graph
Loop1=G2*H1 ForwardPath1=G1*G2*G3*G4*G5*G7
Loop2=G4*H2 ForwardPath2=G1*G2*G3*G4*G6*G7
Loop3=G4*G5*H3
Loop4=G4*G6*H3 Nontouching Loop Gains:
Loop1 does not touch other loops. Loop1*Loop2
Loops 2,3 & 4 have node V3 in common. Loop1*Loop3
Loop1*Loop4
Signal Flow Graph
Mason’s Gain Formula
 The transfer function T between output variable
Y(s) and input variable R(s) is
Y ( s )  k Pk  k
T (s)  
R(s) 
Where:
K :number of forward path
Pk : the kth forward-path gain
Signal Flow Graph
Y ( s )  k Pk  k
T (s)  
R(s) 
Where:
 = System determinant
 1 - (all individual loop gain)
+  (non-touching loop gain of two loops)

-  (non-touching loop gain of three loops)
+ …..
k =kth forward path determinant
Signal Flow Graph
k =  - loop gain terms in  that touch the kth

forward path.
In other words, k is formed by eliminating from 

those loop gain touch the kth forward path.
Signal Flow Graph
Example
C(s)
?
R (s)
Signal Flow Graph
Example
Y(s)
?
R (s)
Summary
 Transfer Function is the ratio of the Laplace transform
of the output variable to the Laplace transform of the
input variable, with all initial conditions assumed to be
zero.
 A block diagram is a convenient tool to visualize the
systems as a collection of interrelated subsystems that
emphasize the relationships among the system
variables.
 Signal flow graph and Mason’s gain formula are used
to determine the transfer function of the complex block
diagram.
Further Reading
 Franklin, et. al., Chapter 3
 Section 3.2
 Dorf, Modern Control System
 Chapter 2, Signal Flow Graph

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Hanani Abd Wahab

Y(s)  G (s)R (s)

 For a system with complex interrelationships, the block

Input node Output node

Two forward-path gains: ?

Four loop gains: ?

Nontouching loop gains?

+  (non-touching loop gain of two loops)

k =  - loop gain terms in  that touch the kth

In other words, k is formed by eliminating from 

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