The Calculus of Signal Flow Diagrams I: Linear relations on streams

We introduce a graphical syntax for signal flow diagrams based on the language of symmetric monoidal categories. Using universal categorical constructions, we provide a stream semantics and a sound and complete axiomatisation. A certain class of diagrams captures the orthodox notion of signal flow graph used in control theory; we show that any diagram of our syntax can be realised, via rewriting in the equational theory, as a signal flow graph.