Block Diagrams, Signal

Flow Graphs, and Mason’s

Gain Formula
EE-371 / EE-502 Control Systems
Milwaukee School of Engineering
Fall Term 2005
Dr. Glenn Wrate, P.E.
 Block Diagrams
• The transfer
function is given E(s) C(s)
inside the block G(s)
• The input in this
case is E(s)
• The output in this
case is C(s)
• C(s) = G(s) E(s)

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 Signal Flow Graphs
• Each signal is a
node in the graph E(s) G(s) C(s)
– E(s) and C(s) in
the case shown
• Each transfer
function is a
branch
– G(s) in this case
• C(s) = G(s) E(s)

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 Summing Junction
• Block format
• Circle represents
the summing E1(s)
G1(s)
junction
+
• Plus or minus E2(s) + C(s)
G2(s)
signs at each
-
signal into the E3(s)
junction G3(s)

C(s) = G1(s) E1(s) + G2(s) E2(s) – G3(s) E3(s)

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 Signal Flow Graph
• Contains
exactly the
same E1(s) G1(s)
information as
a block E2(s) G2(s)
C(s)
diagram
• The summing
E3(s)
junction is just - G3(s)
a node

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 Mason’s Gain Formula
• Has nothing to
do with masons
• Allows signal
flow graphs or
block diagrams
to be easily
reduced
• Can be used
incorrectly

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 Definitions
• Source Node
– A node for which signals only flow
away from the node
• Sink Node
– A node for which signals only flow
towards the node
– A sink node can be created by
adding a branch of gain 1.0

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 Examples
• Add a branch to make a sink

R(s) 1 E(s) G(s) C(s) 1 C(s)

- H(s)

• E(s) = R(s) – H(s)C(s)

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 Examples
• Add a branch to make a source?

R(s) 1 E(s) G(s) C(s) 1 C(s)

1 - H(s)
E(s)

• E(s) = R(s) – H(s)C(s) + E(s)?

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 Terms
• Path
– A continuous connection of branches
in the same direction
E(s) G1(s) G2(s) C(s)

• Loop
– A closed path in which no node is
traveled through twice

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 Terms Continued
• Forward Path
– A path that connects a source node
to a sink node in which no node is
traversed more than once
• Path Gain
– The product of all the transfer
functions in the path, G1G2
E(s) G1(s) G2(s) C(s)

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 Final Terms
• Loop Gain
– The product of all the transfer
functions in the loop
• Nontouching
– Two loops are nontouching if they
have no nodes in common
– A loop and a path are nontouching if
they have no nodes in common

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 Transfer Function
• The transfer function from a
source to a sink node
p
1
T = ∑ Mk ∆k
∆ k =1
• p is the number of forward paths
• Mk is the path gain for the kth
forward path

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 The Delta Function
∆ = 1 − ∑ individual loops
product of nontouching loops
+∑
takentwo at atime
product of nontouching loops
−∑
takenthree at atime
+…
• Usually only the first two terms

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 Examples
• Only one loop
• Two loops, not
touching each
other
• Three loops,
two touching

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