Process Modelling, Simulation and Control for Chemical Engineers.

Solved
problems. Chapter 12: Frequency domain dynamics.
This document contains my own solutions to the problems proposed at the end of each chapter of
the book ”Process Modelling, Simulation and Control for Chemical Engineers”, Second Edition,
by William L. Luyben. As such, I can’t guarantee that the proposed solutions are free from errors.
Think about them as a starting point for developing or as a means of checking your own solutions.
Any comments or corrections will be appreciated. Contact me at [email protected]
The computer programs developed for this chapter (Python) are available at:
https://www.dropbox.com/sh/ul8l74qal9go6c0/AABL-rJovjo5X2WZDlEcCXuda?dl=0

Problem 1
Sketch Nyquist, Bode and Nichols plots for the following transfer functions:
(a)
1
G=
(s + 1)3

(b)
1
G=
(s + 1)(10s + 1)(100s + 1)

(c)
1
G=
s2 (s + 1)

(d)
τs + 1
G=
(τ /6)s + 1

(e)
s
G=
2s + 1
(f)
1
G=
(10s + 1)(s2 + s + 1)

Solution
Replacing s = iw we get:
(a)
1 − 3w2 − i(3w − w3 )
G=
1 + 3w2 + 3w4 + w6
The Nyquist plot is shown in Figure 1, Bode plots are shown in Figures 2 and 3, Nichols plot
is shown in Figure 4, for w bewtween 0 and 3, G starts at 1+0i and end at -0.0260+0.0180i.
(b)
1 − 1110w2 − i(111w − 1000w3 )
G=
1 + 10101w2 + 1010100w4 + 106 w6
The Nyquist plot is shown in Figure 5, Bode plots are shown in Figures 6 and 7, Nichols plot
is shown in Figure 8, for w bewtween 0 and 0.5, G starts at 1+0i and end at −3.40 ∗ 10−3 +
8.55 ∗ 10−4 i.

1
(c)
−1 + iw
G=
w2 + w4
The Nyquist plot is shown in Figure 9, Bode plots are shown in Figures 10 and 11, Nichols
plot is shown in Figure 12, for w bewtween 0.1 and 5, G starts at -99.0+9.90i and end at
−1.54 ∗ 10−3 + 7.69 ∗ 10−3 i.

(d)
36 + 6τ 2 w2 + i30τ w
G=
36 + τ 2 w2
The Nyquist plot is shown in Figure 13, Bode plots are shown in Figures 14 and 15, Nichols
plot is shown in Figure 16, for w bewtween 0 and 5 and τ = 1.01, G starts at 1+0i and end at
3.07+2.46i.
(e)
2w2 + iw
G=
1 + 4w2
The Nyquist plot is shown in Figure 17, Bode plots are shown in Figures 18 and 19, Nichols
plot is shown in Figure 20, for w bewtween 0.1 and 5, G starts at 0.0192+0.0962i and end at
0.495 + 0.0495i.
(f)
1 − 11w2 − i(11w − 10w3 )
G=
1 + 99w2 − 99w4 + 100w6
The Nyquist plot is shown in Figure 21, Bode plots are shown in Figures 22 and 23, Nichols
plot is shown in Figure 24, for w bewtween 0 and 3, G starts at 1+0i and end at −1.49 ∗ 10−3 +
3.60 ∗ 10−3 i.
Code(s) used: P1Code.py

Figure 1: Nyquist plot for 1/(s + 1)3 .

2
Figure 2: Bode log(w) v/s θ plot for 1/(s + 1)3 .

Figure 3: Bode log(w) v/s L plot for 1/(s + 1)3 .

Figure 4: Nichols plot for 1/(s + 1)3 .

3
Figure 5: Nyquist plot for (1 − 1110w2 − i(111w − 1000w3 ))/(1 + 10101w2 + 1010100w4 + 106 w6 ).

Figure 6: Bode log(w) v/s θ plot for (1 − 1110w2 − i(111w − 1000w3 ))/(1 + 10101w2 + 1010100w4 +
106 w6 ).

Figure 7: Bode log(w) v/s L plot for (1 − 1110w2 − i(111w − 1000w3 ))/(1 + 10101w2 + 1010100w4 +
106 w6 ).

4
Figure 8: Nichols plot for (1 − 1110w2 − i(111w − 1000w3 ))/(1 + 10101w2 + 1010100w4 + 106 w6 ).

Figure 9: Nyquist plot for (−1 + iw)/(w2 + w4 ).

Figure 10: Bode log(w) v/s θ plot for (−1 + iw)/(w2 + w4 ).

5
 Figure 11: Bode log(w) v/s L plot for (−1 + iw)/(w2 + w4 ).

Figure 12: Nichols plot for (−1 + iw)/(w2 + w4 ).

Figure 13: Nyquist plot for (36 + 6τ 2 w2 + i30τ w)/(36 + τ 2 w2 ).

6
Figure 14: Bode log(w) v/s θ plot for (36 + 6τ 2 w2 + i30τ w)/(36 + τ 2 w2 ).

Figure 15: Bode log(w) v/s L plot for (36 + 6τ 2 w2 + i30τ w)/(36 + τ 2 w2 ).

Figure 16: Nichols plot for (36 + 6τ 2 w2 + i30τ w)/(36 + τ 2 w2 ).

7
 Figure 17: Nyquist plot for (2w2 + iw)/(1 + 4w2 ).

Figure 18: Bode log(w) v/s θ plot for (2w2 + iw)/(1 + 4w2 ).

Problem 2
Draw the Bode plots for the transfer functions:
(a)
G = 0.5

(b)
G = 5.0

Solution
(a) Bode plots are shown in Figures 25 and 26.
(b) Bode plots are shown in Figures 27 and 28.

Code(s) used: P2Code.py

8
 Figure 19: Bode log(w) v/s L plot for (2w2 + iw)/(1 + 4w2 ).

Figure 20: Nichols plot for (2w2 + iw)/(1 + 4w2 ).

Problem 3
Sketch Nyquist, Bode and Nichols plots for the proportional integral feedback controller B:
 
1
B =K 1+
τs

Solution
 
i
B(iw) = K 1 −
τw
Nyquist plot is shown in Figure 29, Bode plots are shown in Figures 30 and 31, Nichols plot is
shown in Figure 32, for w from 0.001 to 1, K = 3.04, τ = 1.01, G starts at 3.04-3010i and end at
3.04-3.01i.
Code(s) used: P3Code.py

Problem 4
Sketch Nyquist, Bode, and Nichols plots for a system with the transfer function:
−3s + 1
G=
(s + 1)(5s + 1)

9
 Figure 21: Nyquist plot for (1 − 11w2 − i(11w − 10w3 ))/(1 + 99w2 − 99w4 + 100w6 ).

Figure 22: Bode log(w) v/s θ plot for (1 − 11w2 − i(11w − 10w3 ))/(1 + 99w2 − 99w4 + 100w6 ).

Solution
1 − 23w2 + i(15w3 − 9w)
G(iw) =
1 + 26w2 + 25w4
Nyquist plot is shown in Figure 33, Bode plots are shown in Figures 34 and 35, Nichols plot is
shown in Figure 36, for w from 0.001 to 100, G starts at 1+0i and end at −9.20∗10−5 +6.00∗10−3 i.
Code(s) used: P4Code.py

Problem 5
Draw Bode plots of the transfer function:
7.5(s + 0.2)
G=
s(s + 1)3

Solution
3w − 21w3 + i(−1.5 − 18w2 + 7.5w4 )
G(iw) =
w(1 + 3w2 + 3w4 + w6 )
Bode plots are shown in Figures 37 and 38, for w from 0.01 to 100, G starts at -150.1i and end at
−2.10 ∗ 10−7 + 7.50 ∗ 10−6 i.
Code(s) used: P5Code.py

10
Figure 23: Bode log(w) v/s L plot for (1 − 11w2 − i(11w − 10w3 ))/(1 + 99w2 − 99w4 + 100w6 ).

Figure 24: Nichols plot for (1 − 11w2 − i(11w − 10w3 ))/(1 + 99w2 − 99w4 + 100w6 ).

Problem 6
Write a digital computer program that gives the real and imaginary parts, log modulus and phase
angle for the transfer functions:
(a)
P11 P22 − P12 P21
G=B
P22
 
1
B =8 1+
400s
1
P11 =
(1 + 167s)(1 + s)(1 + 0.1s)4
0.85
P12 =
(1 + 83s)(1 + s)2
0.85
P21 =
(1 + 167s)(1 + 0.5s)3 (1 + s)
1
P22 =
(1 + 167s)(1 + s)2

11
 Figure 25: Bode log(w) v/s θ plot for G=0.5.

Figure 26: Bode log(w) v/s L plot for G=0.5.

(b)
e−0.1s
G=
s + 1 + e−0.1s

Solution
A program was written, after execution, the results are:
w: 1.000e-02 Real: -1.446e+00 Imag: -3.081e-01 L: 3.395 angle: 3.352
w: 1.000e-01 Real: 5.579e-02 Imag: 2.042e-01 L: -13.488 angle: 1.304
w: 1.000e+00 Real: -1.552e-03 Imag: -3.241e-02 L: -29.777 angle: 4.665
(a)
w: 1.000e+01 Real: 1.152e-04 Imag: 1.592e-05 L: -78.686 angle: 0.137
w: 1.000e+02 Real: -4.348e-10 Imag: -1.311e-10 L: -186.856 angle: 3.434
w: 1.000e+03 Real: -4.824e-16 Imag: 5.375e-16 L: -302.826 angle: 2.302

w: 1.000e-02 Real: 5.000e-01 Imag: -2.750e-03 L: -6.021 angle: 6.278

w: 1.000e-01 Real: 4.988e-01 Imag: -2.744e-02 L: -6.029 angle: 6.228
w: 1.000e+00 Real: 3.956e-01 Imag: -2.286e-01 L: -6.804 angle: 5.759
(b)
w: 1.000e+01 Real: -7.970e-02 Imag: -7.240e-02 L: -19.358 angle: 3.879
w: 1.000e+02 Real: 5.397e-03 Imag: 8.354e-03 L: -40.047 angle: 0.997
w: 1.000e+03 Real: 5.077e-04 Imag: -8.609e-04 L: -60.004 angle: 5.245
Code(s) used: P6Code.py

12
 Figure 27: Bode log(w) v/s θ plot for G=5.0.

Figure 28: Bode log(w) v/s L plot for G=5.0.

Problem 7
Draw Bode, Nyquist and Nichols plots for the transfer functions:
(a)
G
AL =
1 + BG
(b)
BG
A=
1 + BG
where:
 
1
B =K 1+
τI s
K=6
τI = 6
1
G=
τs + 1
τ = 10

13
 Figure 29: Nyquist plot.

Figure 30: Bode log(w) v/s θ plot.

Figure 31: Bode log(w) v/s L plot.

14
 Figure 32: Nichols plot.

Figure 33: Nyquist plot.

Figure 34: Bode log(w) v/s θ plot.

15
Figure 35: Bode log(w) v/s L plot.

Figure 36: Nichols plot.

Figure 37: Bode log(w) v/s θ plot.

16
 Figure 38: Bode log(w) v/s L plot.

Figure 39: Nyquist plot.

Solution
(a)
7w2 + i(w − 10w3 )
AL =
1 + 29w2 + 100w4
Nyquist plot is shown in Figure 39, Bode plots are shown in Figures 40 and 41, Nichols
plot is shown in Figure 42, for w from 0.1 to 100, G starts at 0.0538+0.0692i and end at
7.00 ∗ 10−6 − 1.00 ∗ 10−3 i.
(b)
1 + 32w2 − i(w + 60w3 )
A=
1 + 29w2 + 100w4
Nyquist plot is shown in Figure 43, Bode plots are shown in Figures 44 and 45, Nichols plot
is shown in Figure 46, for w from 0.1 to 100, G starts at 1.02-0.123i and end at 3.20 ∗ 10−5 −
6.00 ∗ 10−3 i.
Code(s) used: P7Code.py

Problem 8
Draw the Bode plot of
1 − e−Ds
G=
s

17
Figure 40: Bode log(w) v/s θ plot.

Figure 41: Bode log(w) v/s L plot.

Figure 42: Nichols plot.

18
 Figure 43: Nyquist plot.

Figure 44: Bode log(w) v/s θ plot.

Figure 45: Bode log(w) v/s L plot.

19
 Figure 46: Nichols plot.

Figure 47: Bode log(w) v/s θ plot.

Solution
Sin(Dw) + i(Cos(Dw) − 1)
G(iw) =
w
Bode plots are shown in Figures 47 and 48.
Code(s) used: P8Code.py

Problem 9
A process is forced by sinusoidal input m. The output is a sine wave x. If these two signals are
connected to an x − y recorder, we get a Lissajous plot. Time is the parameter along the curve,
which repeats itself with each cycle. The shape of the curve will change if the frequency is changed
and will be different for different kinds of processes.
(a) How can the magnitude ratio M R and phase angle θ be found from this curve?
(b) Sketch Lissajous curves for the following systems:
(i)
G=K
(ii)
G = 1/s

20
 Figure 48: Bode log(w) v/s L plot.

(iii)
1
G=
τs + 1
At w = 1/τ radians per time.

Solution
(a) For an input x and output y:

x = A sin(wt)
y = B sin(wt + φ) + C

From the Lissajous curve, the maximum and minimum values of x, x+ and x− can be found,
corresponding to the extreme values of the x coordinate, with this values we can determine
the value of A:
x+ − x−
A=
2
And using the same procedure for y:

y+ − y−
B=
2
Aditionally:

y+ + y−
C=
2
At the point in the graph corresponding to x+ , wt = π/2. So:
 
−1 y−C π
φ = sin −
B 2

(b) The response to a sin input is:

(i)

y = K sin(wt)

21
 Figure 49: Lissajous plot for K sin(wt).

(ii)
1 w
y=
s s2 + w2
 
1 1 s
= − 2
w s s + w2
1 − cos(wt)
=
w

(iii)
w w
y=
s + w s + w2
2

1 s w
= − +
2(s + w) 2(s + w ) 2(s + w2 )
2 2 2

1 −wt

= e − cos(wt) + sin(wt)
2
1  −wt √  π 
= e + 2 sin wt −
2 4

(c)

The Lissajous plots are shown in Figures 49 (K=2.04), 50 and 51 for w = 1.

Code(s) used: P9Code.py

22
 Figure 50: Lissajous plot for (1 − cos(wt))/w.

√
Figure 51: Lissajous plot for 0.5(e−wt + 2 sin(wt − π/4)).

23