Signal flow graph

x
x

G
G

Y = XG

x1

X3
2
x2

x3 = x1 + 2x2

x1

X3

-1

2
x2

x4 = -x3 + x5

x4
1

x5

Let us take
R +

where E = R-CH & C = GE

Equations

E = R - CH
C = GE

Variables

R
E
C

-H

? = C

1 ?

Masons gain formula

Forward path gain =
G
Loop gain = - GH

C/R

Forward path gain

= -----------------------1- loop gain

G
------------------1 - ( - GH )

Equations

Block diagram
graph

Reduction

Signal flow

gain formula

G2

G1

E = R - CH
C = EG1 + EG2

E = R - CH
C = EG1 + EG2
G2
R

C 1
G1

-H

G1 + G 2
C/R =

----------------------1 + G 1 H + G 2H

G2

+
R

E
-

G1

E=R-XH
X = EG1
C=X+E

E = R - XH
X = EG1
C = X + EG2
R

1 E

G2

G1 X 1

-H

C 1
C

G1 + G 2
C / R = -------------1 + G1 H

C R
P

K K

R 1 X1 G1 X2 G2 X3 G3 C
- H1

- H2

- H3

Forward path gain

P1 = G 1 G2
G3

R 1 X1 G1 X2 G2 X3 G3 C
- H1

Loops

- H2

- H3

- G1H1
- G2H2
- G3H3

R 1 X1 G1 X2 G2 X3 G3 C
- H1

- H2

- H3

( loop gains) =
- G1H1 - G2H2 - G3H3

R 1 X1 G1 X2 G2 X3 G3
- H1

- H2

- H3

Out of 3 loops,
2 loops do not
touch each

C 1

X1 G1 X2
- H1

X3 G3
- H3

Their gain product

= (- G1H1) ( - G3 H3 )

= 1 - ( loop gains)
+ gain products
of non touching loops
two taken at a time
- etc.

=
1 - ( - G 1H1 - G 2 H 2 - G 3H3 )
+ (-G1H1 ) (-G3H3 )

Loop not touching

the forward path ?
Nil.

 1 = 1

C/R =

P1
1

( G1 G2 G3 ) (1)

=
1 + G1 H1 + G2 H2 + G3 H3 + G1 H1 G3 H3

G2
R

E
+

G1

X+

+ C

E = R-XH
X = EG1
C = RG

E = R - XH
X = EG1
C = RG2 + X
R 1 E
G1 X 1

-H
G2

C 1

G1 + G 2 ( 1 + G 1 H )
C/R =

-------------------------1 + G1 H

Multi input multi output

R1

E1

G1

C1

H1
H2

_
R2 +

E2

G2

C2

To find C1 / R1 ,
assume R2 = 0

R1

E1

C1

G1
H1
-1

G2
H2

C1/ R1 =
G1
1 + ( - G 1 G2 H1 H2 )

By signal flow graph.

R1

E1

G1

C1

C1

-H1

-H2

1
R2

E2

G2

C2

C2

C1 / R 1
forward path gain = G1
loop gain = G1 G2 H1 H2
C1 / R 1 =

G1
1 - G 1 G2 H 1 H2

C2 / R1
forward path gain
= - G1 G2 H1
loop gain = G1 G2 H1 H2

C2 / R1 =

- G1 G2 H1
1 - G1 G2 H1 H2

Ra
Motor

va

Load

eb
1 pt

KA

E = KP ( r - L)
Va = KA E
TM = ( KT/R) (Va - Eb)

L/ T =1/ (J s2 + B s ) = G (say)
M
L
L
1
Eb / L = sKb

= H1 (Say)

Variables : r
E
Va 5 equations
TM
needed
Eb

KA Va KT/R TM G1

- KT/R

sK

KP

Eb

- KP

forward path gain = Kp KA KT G1 /

R
Loop gains
- G1 H1 KT / R
R

KA KT G1 Kp /

forward path gain

L/r = -------------------------1 - ( loop gain )

L / r

Kp KA KT G1/R

= ----------------------------------------------------

1- (-G1H1KT / R) - ( - KA KT G1KP/R )

Disturbance input
TM - TD = TL
TM

TD

TL

------------

Js2 +Bs