EE-379

LINEAR CONTROL SYSTEMS

Lecture No 13

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 4 (6th Ed)
Analysis and Design of Feedback Systems,
Signal-Flow Graphs, Mason's Rule

Instructor: Dr. Farid Gul

Class: BEE 4A/B
Electrical Engineering Department

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Analysis and Design of
Feedback Systems

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Analysis and Design of
Feedback Systems

C ( s) K ( s( s  a)
T (s)  
R( s) 1  K ( s ( s  a)

K
T (s) 
s 2  as  K

As K varies, the poles move through

the three ranges of operation of a
second-order system:
• overdamped
• critically damped
• underdamped

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 K
T ( s)  2
s  as  K

a a 2 - 4k � a2 �
s1,2 - � �for 0 < K < �overdamped
2 2 � 4

a � a2 �
s1,2 - �for K  �critically damped
2 � 4

a 4k - a 2 � a2 �
s1,2  - �j �for K > �underdamped
2 2 � 4
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Example 5.3
Finding Transient Response

PROBLEM: For the system shown in the Figure, find the peak
time, percent overshoot, and settling time.

Tp  ?; Ts  ?; %OS  ?
Solution
25 p
T (s) 
s 2  5s  25 Tp  � Tp  0.726 second
wn 1 - z 2

wn  25  5
%OS  e -zp 1-z 2
�100
� %OS  1.6 seconds
2zwn  5
5 4 � Ts  16.303
z   0.5 Ts 
2wn zwn
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Example 5.4
Gain Design for
Transient Response

PRO BLEM: Design the value of gain K for the feedback control
system, so that the system will respond with a 10% overshoot.

Solution

-zp 1-z 2 K
%OS  e �100  10 T (s) 
s 2  5s  K 5
z   0.591
2 K
z  0.591 2zwn  5

wn  K K  17.9
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Signal-Flow Graphs

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Signal-Flow Graphs

• Signal-flow graphs are an alternative

to block diagrams.
• Block diagrams consist of blocks,
signals, summing junctions, and
pickoff points.
• A signal-flow graph consists of
branches, which represent systems,
and nodes, which represent signals.

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 Signal-flow graph components:
a. systems
b. signals

and
c. interconnection of systems and signals

V(s) = R1(s)G1(s) - R2(s)G2(s) + R3(s)G3(s)

The signal C1(s) = V(s)G4(s)

The signal C2(s) = V(s)G5(s)

The signal C3(s) = -V(s)G6(s)

NOTE:
The negative sign is associated with the
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system and not with a summing junction
 Example 5.5

Converting Common Block Diagrams to

Signal-Flow Graphs

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Cascaded subsystems
V2(s)= V1(s)=

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Parallel subsystems

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Feedback control system

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Example 5.6
Converting a Block Diagram to a Block diagram Example 5.2
Signal-Flow Graph

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Signal-flow graph development

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Simplification of signal-flow graph

signal nodes

signal-flow graph

simplified signal-flow
graph
Mason's Rule
(Self Study)

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• Mason's rule for reducing a signal-flow
graph to a single transfer function requires
the application of one formula.
• The formula was derived by S. J. Mason
when he related the signal-flow graph to
the simultaneous equations that can be
written from the graph (Mason, 1953)

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Definitions
Loop gain. Product of branch gains found by traversing a
path that starts at a node and ends at the same node, following
the direction of the signal flow

How may loops ???

1. G2(s)H1(s) 2. G4(s)H2(s)

3. G4(s)G5(s)H3(s) 4. G4(s)G6(s)H3(s)
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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 in the direction of signal flow

How may forward paths ???

1. G1(s)G2(s)G3(s)G4(s)G5(s)G7(s)

2. G1(s)G2(s)G3(s)G4(s)G6(s)G7(s)
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Nontouching loops.
Loops that do not have any node in common

How may nontouching loops ???

loop G2(s)H1(s) does not touch

loops G4(s)H2(s),
G4(s)G5(s)H3(s), and 3 nontouching loops
G4(s)G6(s)H3(s).
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 Nontouching loops gain
The product of loop gains from nontouching loops
taken two, three, four, or more at a time

Nontouching-loop gains
taken two at a time : • In our example three
nontouching loops do not
1. [G2(s)H1(s)] [G4(s)H2(s)]
exist
2. [G2(s)H1(s)] [G4(s)G5(s)H3(s)] • No nontouching-loop gains
3. [G2(s)H1(s)] [G4(s)G6(s)H3(s)] taken three at a time since.
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Mason's Rule
The transfer function, C(s)/R(s), of a
system represented by a signal-flow
graph is

k = number of forward paths

Tk = the kth forward-path gain

∆ = 1 - ∑ loop gains + ∑ nontouching-loop gains taken 2 at a time

- ∑ NTLG taken 3 at a time + ∑ NTLG taken 4 at a time — ...

∆ k = ∆ - ∑ loop gain terms in ∆ that touch the kth forward path.

(∆ k is formed by eliminating from ∆
those loop gains that touch the kth forward path)
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Example 5.7 Transfer Function via Mason's Rule

PROBLEM: Find the transfer function, C(s)/R(s) for

the signal-flow graph .

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Example 5.7 Transfer Function via Mason's Rule

1. Identify the forward-path gains

G1(s)G2(s)G3(s)G4(s)G5(s)

2. Identify the loop gains

1. G2(s)H1(s)
2. G4(s)H2(s)
3. G7(s)H4(s)
4. G2(s)G3(s)G4(s)G5(s) G6(s) G7(s) G8(s)

3. Identify the nontouching loops taken two at a time.

Loop 1 and loop 2 : [G2(s)H1(s)][G4(s)H2(s)]

Loop l and loop 3 : [G2(s)H1(s)][G7(s)H4(s)]
Loop 2 and loop 3 : [G4(s)H2(s)][G7(s)H4(s)]
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Example 5.7 Transfer Function via Mason's Rule

3. Identify the nontouching loops

taken three at a time.
Loop 1 and loop 2 and 3 : [G2(s)H1(s)]
[G4(s)H2(s)] [G7(s)H4(s)]

∆ = 1 - ∑ loop gains + ∑ nontouching-loop gains taken 2

at a time - ∑ NTLG taken 3 at a time

∆ = 1 – [G2(s)H1(s) + G4(s)H2(s) + G7(s)H4(s)+ G2(s)G3(s)G4(s)G5(s) G6(s) G7(s) G8(s)]

+ [G2(s)H1(s)G4(s)H2(s)+ G2(s)H1(s)G7(s)H4(s)+ G4(s)H2(s)G7(s)H4(s)]

- [G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)] 26
∆ = 1 – [G2(s)H1(s) + G4(s)H2(s) + G7(s)H4(s)+ G2(s)G3(s)G4(s)G5(s) G6(s) G7(s) G8(s)]

+ [G2(s)H1(s)G4(s)H2(s)+ G2(s)H1(s)G7(s)H4(s)+ G4(s)H2(s)G7(s)H4(s)]

- [G2(s)H1(s)G4(s)H2(s)G7(s)H4(s)]

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