169

g nof Control Svstems Using Frequency Response

(8.44)
G(jw)-k 1
WTi

Gjw) 1 (845)
or W TI
Kc

Real part =
1 and Imaginary part wti
Therefore amplitude rati0 is given as,

AR . (8.46)
WT
kc
and the phase angle is given as,

(8.47)
tan
WTI
AR 6
constructed byplotting
versus wt, and phase angle
The Bode diagram can be
and (8.47).
versus
wt, from Eq. (8.46) 1
w>0 or wt,0
1. For low frequency asymptote LFA

AR1
Thereforeke WT
. (8.48)

or log kc ARlogw
wT = 1 and having slope -1.
through
This is a equation ofline passing

frequency is W=
The corner

or
asymptote W
2. For high frequency

AR0 or
AR 1
Therefore log kc kc
e
170 Process Control & Instrumentati-
a
The phase angle can be given as,

- - tan 1
a wT
W
0 900
1
45
00

100

LFA
10
Stope = 1
HFA
AR
KC

0-1

O 01

0-001
0-01 0-1 10 100
wTI
wTI
0-01 0.1
O 10 100

- 90

Fig. 8.4 Bode dlagram for Pl controller

8.9 Bode Diagram for Proportional Integral Derivative Controller :

The transfer function for PID controllers given as,

1
G(s) =kc1+Tps+
TS
 ti of Control Systems Using Frequerncy Response 171
Substituting s = jW give,

+
jw Tp t
1 (8.49)
Gjw) k =

WT

Or G(jw)=ke 1+jwT - WT

1 .. (8.50)
or Giw)-1+wwT wT
wTp
tpwT,
L
Therefore Real partis 1 and Imaginary part is

Therefore the amplitude ratio AR is given as,

... (8.51)
AR 1+wtpwT)
kc
phase angle 0 is given
as,
and the
.. (8.52)
= tan-1|Wp-1/wt))

(8.53)

or
= tanwtp - W1
AR radian frequency
and
versus
can be constructed by plotting
The Bode diagram

radian frequency. wtp0

6 w ->0 or
versus

phase angle asymptote

1. For low frequency
AR1
0 Therefore kc wt
and w TI (8.54)

or
log AR-logwi = -1.
= 1 and having slope
a n d wt,
through Kc
This is equation of line passing

The corner frequency W

and
0
o
w
asymptote
w o or w T
frequency
For high . (8.55)

AR
AR log w Tp
wtp Or
Therefore kc
 Process
Control & Instrumentation

172
AR =
and wT, = 1 and thecorner
frequency

This is equation of line passing

througn k

1 + 1.
W2 having slope
=
and
TD

The phase angle is given as, 0= tan' | wtp WT1

0
For low frequency asymptote w>0,
or wt
i)
t h e phase angle 0 = - 90°.
Or
W T

ii) For high frequency asymptote wo,or wtp

and 0 t h e phase angle 6 = +90°

WT

The Bode diagram for PID controller is shown in Fig. (8.5).

100
Slope =+1
ISlopeF
10

0-1

0 01

o 001 0-01 0:1 10 100

W
w TD

90

-90
cont1oller
for PID
8.5 Bode diagram
Fig.
 Control Systems Using Frequency Response 173

10 Bode Diagram for Transportation Lag Parameter

The transter function for the transportation lag parameter is given as,

G(s)=e *

where T is the transportation lag or distance velocity lag

Substituting s = j

G(jw)= e w
(8.56)
Therefore the amplitude ratio is the modulus or absolute value of Gjw) or

AR 1Gjw)|

oe AR =|eTaiw=11 . (8.57)

and the phase angle 0 is the argument of G (Gw).

Therefore 6 = - T W (8.58)
The phase angle characteristic for transportation lag parameter is obtained by plotting

ha angle versus
wT. The angle '0 is given in degree.
wTd

6=TW 0.1 0.2 0.5 2 5 10

wTa 0
0.1 -5.73 45

0.4 -22.7 -90

0.6 -34.4
-135

1.0 -57.3
-180
1.5 -85.9
-225
2.0 -114.6
-270
3.0 -171.9
-315
4.0 -229.2
-360
5.0 -286.7
-405
6.0 343
7.0 401 -450

8.0 -458 -495

9.0 -516 -540

10.0 -573 -585

otinn 1aa naramete

 174
Process Control &
Instrumentat
Example (a) :Obtain the
asymptotic Bode diagram for the given open loop transter tunction

(1)

where Tp =0.4 min, t, =

1.6 min
Solution: The open
loop transfer function of the
system is

Gs)=Ke 1+0.4 s+ 1.6 s

Here, the
amplitude ratio (AR) is given as
AR 2

w TD 1
wT)
and phase angle 6= tan
wt-
WT
The Bode
diagram can be constructed AR
by plotting versus
phase angle Kc radian
versus radian Kc frequency. frequency an

i) For Low
frequency asymptote (LFA) w
AR 1 0or wTh>0 and wt, > o

Ke WT

or AR
log
K -log
wt

This is the
equation of a line passing through AR
= 1 and
wt, =1 and sope =

and corner
frequency w = =0 . 6 2 5
0.625
=
0.625 rad / & min
 175
un of Control Systems Using Frequency Response
(1i) For high frequency asymptote (HFA)
W oo or WTp and w,,0
AR
l o g log wTD
Kc
of logAR
= log wtp
AR 1 and corner
1 and wtp =
This is the equation of a line passing through = 1
Kc
equency W2
W= 2.5 and having slope
= +
1|
1
Thephase angle is given
as 0= tan "| w t
for LFA, W 0 ,
W Tp 0
(i)
the phase angle
=
-
90
O
wT1
for HFA, W , W Tp
(ii)
+ 90°
phase angle (0)
=
or 1 0 the
w T
 -

C
I
 Usirig Freqvency Response
SIgn of Control Systems
The open loop transter tunction of control svstem is given as
INampletb):
K
G()
(0.1s 1)(s+1)
Shetch the asymptotic Bode diagram
solution: The open loop transfer function is given as
K
G()- (0.1
s+ 1)(s+ 1)
G () 0.1 s+1 s+1
1
AR AR2
1+(0.1 w)
for LFA w 0 , AR, = 1 for LFA w 0 , AR, = 1
for HFA w-> o for HFA w .
log AR, = - log (w)
log AR, = -
log (0.1 w)
Equation of line passing through,
Equation of line passing through
1
AR, =
1, 0.1 w
=1, w
=10 AR,=1, w =
1, slope = -
corner frequency w'= 1
slope =-1
corner frequency w = 10
-0.1 w) +tan(-w)
The overall phase angle can be obtained as, eoverall tan
W , =tan-0.1 w) e, = tan(- w) Bverall
0 0
0
- 5.71 450 50.71°
- 84.29° 129.3
10 45
90 180
90
AR Vs
is obtained by plotting Vs w & phase angle (0) w
The bode diagram Kc
en
er
ou
ge
isl 178
- -
Process Control & instrumentation

(4) G(s)=
Kc
r
(0 1s+1 s+ 1)
100
as
S
10

AR GAS
Kc Slopet-1
0.1

G(s) overall G(s). Slope =-1

0.01 Slope
0.001
0.01 0.1 10 100
0.01
0.1 10 100

45°

9 90

6 ovefall
-135

-180
Fig. (b)

Example 8.1 Sketch the Bode diagram for the two first order systems having time
constants ti 10 and t, 0.5. A proportional controller with gain kc is used to control the
= =

system. Assume the non-interacting first order sytems in series.

Solution: The open loop transfer function of the system is,

G)- (10s+1)Kc(0.5s +1)

(AR)overall Kc
1(w,yi-(wT,
 sign of Control Systems Using Frequency Response
strumentation 179

(AR)overall kc = kc AR,AR

1+(10w 1(0.5 w
1 1
G,5)= 10s+1
and G2s) 05 s+1

AR = 1 and AR2 =
1+(10w 1+(0.5 w
log (AR)overall log AR, + log AR,

AR
1) 1+(10 w)
For low frequency asymptote w 0 or AR, = 11

For high frequency asymptote w

log AR, = - log (10 w)
log AR, =-; log(10w or

This is a equation of line passing through AR, = 1, 10 w l'or w = 0.1 and having

frequency w = 0.1.
slope -1. The corner

1
2) AR2
1+(0.5w)
For low frequency asymptote w ->0 or AR, = 1
high frequency asymptote w-
o

For

or
logAR, = log (0.5 w)2 or log AR2 = -log (0.5w)
1, 0.5 =1
equation of line passing through AR,
= w
This is a

aving time
or w =
0.5 2 and slope -

1. The corner frequency w=2.

control the
The phase angle is given as,

overall 6 , +82
overai=tan"(-wt)+ tan"(-wT)
6, =
tan"(-10w) and 0, tan (-0.5 w)
=
 780
Process Control& instrumentatio

, = tan '10w) 0.5 w 0, - tan'0.5w) overal11

0
01 45 01 005 286
4786
20 45 -132
90 -180

The vanation of
Tatio veTsus
AR, versus w and AR, versus w are plotted and the overall
amplitude
w Was obtained by adding the slopes of the individual
coTner tTequencv asymptotes at each
The overall
phase angle
cach corner frequcncy. versus w is obtained by adding the individual phase angle at

The Bode
diagram of the system is shown in Fig. (8.11).

100

OF

LFA
HFA G2{S (0.5s+11
o.1
slope-1

0-01
G,(S)(10s+1)
slope= - 1

0 01 0.1 1 2
W
10 100 G(S)Overoll
slope = - 2

0.01 0.1 1 2 10 100

45
G2 (S)
9Q
G1(S)
135 G(S) Overoll
-180

Fig. 8.11 Bode diagram of control system

 181
i Of Control Systems Using Frequency Response

transfer function of a control system is given as,

Example 8.2: The open loop

kcs
G(s)=-1)(0.1s+ 1)
control system.
Sketch the asymptotic Bode diagram for the
system is,
Solution: The open loop transfer function of a control

kcs
G(s)= (s+1)(0.1s+1) =G, (s) G,(s)G,(6)
1
G3 S) 01s+1
G( s+1
,s)=s
AR
AR 1+(0.1 w
AR, = w 1+(w) 1
AR, =

0 or AR, = 1 For LFA, w>0 or

For LFA W
For HFA, w
log AR,
=
log w

Equation of line For HFA w oor

or log AR,
=
-

log (0.1 w)
log w line passing
log AR Equation of
=
-

passing through line passing 0.1 w = 1

=l Equation of through AR, 1,
=

AR, = 1, w
1, w 1 =
-1 corner

through AR,
=

10, slope
=
=
or w
c o r n e r frequency =1|
slope = +1
frequency = 10.
sdope = -1

(AR),Verall=log AR, +
log AR, +log AR,
log as,
1S 8iven
The phase angle B,verall
overal, +0, +0 w)
(-0.1
Overalltan
() tan (-w) +tan
4+
(0.1 w)
+90° + tan (-w}+ tan +
6Overall
(0.1 w) overall 90° +8,
0.1 w 0 tan
6 - t a n l (w) 90°
W 0°
0 390

0° 6
0
0.1 40
-45 45°
-90
-85 -90°
10
90° W
versus

versus w and AR, IS

plotting AR, overall AR
be
constructed by + 1. The
The Bode diagram
can
1 and =
having slope frequency.
AR, 1 and w =
at each
corner
at
through
and a line passing
i n d i v i d u a l slopes
of the asymptotes
the
individual phase angles
the
obtained by adding can be obtained by adding
versus w
shown in Fig (8.12).
Ihe overall phase angle diagram is
frequency. The Bode
each coner
 Process Control & Instrumentatior

182

100

= +
S ;slope
10 G 1(s)=

LFA
AR
kc
1
HFA G(s) overall

Gzls)= (0.1s+ 1)
0.1 slope = 1

- G2(s)
0-01 slope -

0-001
0-01 0-1 10 100

W
-G1(s)

0-01 0-1 10 100

90'
45
-G(s) overall

G3 s)
-43
- 9
-62ls)

Fig. 8.12 Bode diagram of a control system

Example 8.3 The open-loop transfer function of a control system is given as,

Kes+1)
G6)F10s+1)(0.2s +1)
Sketch the asymptotic Bode diagram of the control system.

Solution: The open loop transfer function of control system is,

kc(s+1) =C,($)G,(s)G, (s)

G$)0.2s+1) (10s+1)
bervisor Should

183
Frequency Response
sgn of Control Systerns Us1ng

(s)= (s
+ 1) G,)02s 1 G)10s+1)
AR
AR 1+(10 w
AR, = v1 +w 1+ (0.2w)
and AR, = 1
1 For LFA, w 0

For LFA, w 0 or For LFA, w 0 or AR, =

AR, =1 > o

and For HFA, w

For HFA, w > o
w)
For HFA, w^ o

and log AR,

= -

log (10
log w log AR, = -

log (0.2 w)
log AR,
=
and
Equation of line passing Equation of line passing 1
Equation of line
=1 through AR, 1,
10 w ==
or

1 and 0.2 w
through AR,
=

passing through W = 0.1, slope = -1,

or w = 5, slope = -1 and
AR, = 1, W =1| = 0.1
= 5. corner frequency
Slope = +1 corner frequency
Corner frequency
w = 1

(AR)Overal! =
(AR,){AR) (AR,)

or log ARveral log AR, + log AR,+ log AR,

determined as,
be
phase angle
can
The overall

overall6 +0 +6
(-0.2w) + tan-l (-10 w)
verall tan (w) tan
+

10 w 0,- tan (10

w) ovexall+
W 6,tan 0.2 w ,=-tan (0.2 =
0, +0, B
0 0
0 0
0° 0
0 40°
-45°
-1.140
5.8 0.02
0.1 -51.3
-11.3 10 -85
1 45 0.2
50 -890 -56
78 1 45
-90°
90°
-90
90
at
individual asymptotic lines
the slopes of the
The overall AR is obtained by adding by adding the individual
is obtained
each c o r n e r frequency and
the overall phase angle
in Fig. (8.13).
phase angle. The Bode diagram is shown
 Process Control& Instrumentatron

100

-G1(5)(s1)
slope= +1

10

LFA
AR HFA G2(s) (0-2s+ 1)
1
0.1 slope = -1

G (s)ove rall
.01
slope = -1

G3(s) 1
0.001 (10s+ 1)
0.01 0.1 10 100 slope- 1

-01 0-1 10 100

G1(s)

Gg(s)
- 45| G(s) overall
90L G2ls)

Fig. 8.13 Bode diagram of control system

Example 8.4: The open-loop transfer function a control system is given as,

kc
G)= s(0.1s +1)(10s +1)
Sketch the asymptotic Bode diagram of control system. Determine the value of kc
h the control system is stable.
olution: The open loop transfer fugction is given as,

Gi (6) G, (s) G,(s)

s(10s +1)(0.1s+1)
 185
esign of Control Systems Using Frequency Response

1 1
G,) G,s)= 10s+1 GS)0.1s +1)
1
AR =
AR, AR
W y1+(10w 1+(0.1 w)
For LFA w 0, AR, = *»|For LFA, W 0, AR, = 1 1
For LFA, w0, AR, =

For HFA w o, For HFA, w > o For HFA, w > co

log AR, -log w log AR = - log (10 w) log AR = - log (0.1 w)

Equation of line passing Equation of line passing Equation of line passing

through AR, = 1, w =1 through AR, = 1, 10 w = 1 through AR = 1, 0.1 w = 1
slope = -1, or w = 0.1, slope = -1, or w= 10, slope = -1
corner frequency = w =1 |corner frequency w' =
0.1 corner frequency =10

The overall AR can be obtained by adding the of the individual

silopes asympotote.
(AR)verall = (AR,) (AR,) (AR,)

log ARverall = log AR + log AR^ + log AR3

The overall phase anglé can be obtained as,

overall, +02 + 0
Overalltan(-o) + tan (-10 w) + tanl (-0.1 w)

verall-90° + tan (-10 w) + tan (-0.1 w)

w
10 w 0, =
tan(-10 w) 0.1 w
=tan(-0.1 w) overal-90° +0, +0,
0 0 0 -90°
0.1 1 45 0.01 -0.58 -135
10 100 -90° 1 -45 -225
90° -90° -270

The Bode diagram cun be obtained by plotting AR, AR, and AR versus w and 0, B2
and 6, versus w. The overall AR was obtained
by adding the slopes of the individual
asymptotes and the overall phase angle was obtained by adding the individual phase angle.
The Bode diagram is shown in Fig.
(8.14)
 Process Control & InstruEntar

1000

100

10 Slope=-1. K

Slope=-2-
G(SS(0.15+1)(10S=1)
Slope-3 G)
Slope-1
10 G2(S)
Slope--1
10°
Slope=-4 1
10
10 overall
10 10 10° 10 10 10 1 10 10 10 10° 10 10 10 10
W-

cG,(S) G26)
-90°
6S)

-135

180
G(S)
overall
-225

-270 10 10 10 10 10° 10 10
10 10 10 10 10 10 1 10
W

8.14 Bode diagram of control system

Fig.
=1 for
-180° the corresponding value of the frequency w
At the phase angle =

AR
0.1
the amplitude ratio =

kc
Therefore,
10
gain margin = 0.1 kc
1
kc
1.7, if the value of gain margin
should be greater than
For stable system gain margin
rain 102
 187
of Control Systems Using Frequency Response

10
k 5

controller to have stable system

=
5.
Theretore the gain of the proportional
1 10
If the system is without any contro!ler then
the ultimate gain k 0.10
value of the gain of proportional
-Nichols controller settings the
Using Ziegler is stable.
at which the system functioning
Toller is given as 0.5 k,
For stable control system,
0.5 10 = 5
kc=0.5 k, or k = x

stable.
Therefore at kc =
5 the control system is
transfer function of a control system is given as,

Example 8.5: The open-loop

G() = k (5 s + 1)

Bode diagram of control system.

Sketch the asymptotic
transfer function of a control system is,
Solution : The open-loop

G(s) =
kc (5s + 1)2
ratio is given as,
The amplitude

1+(5w) 1+(5w)
or A -(1-(6w)
A c
kc
AR 1
asymptote
w -0 o r k
At low frequency
co
w
asymptote
frequency
At high

AR -2log (5 w
and log kc
AR1and
k
of line passing through c
This is equation 0.2.
frequency w'
=

slope =2,
corner

5w = 1 or w =0.2 and
is given as,
The overall phase angle
verall
2 tan- (5w)

(5w)
W 5w overall= 2 tan

1
90°
0.2
180°
188
Process Control &
Instrumentation
Bode AR
diagram can be obtained by plotting kc vesus w and the overall
e phase angle
versus w. The Bode
diagram is shown in Fig. (8.15).
100-
G(s)=kc (5s+1)
slope = +2
10
AR
kc
LFA

0-01

0 001
O 01 0.10-2
10 100
180 W

90 G(s) k(5s +1)2

-

0-01 0.10-2 1 10 100

Fig. 8.15 Bode diagram of

control system
Example 8.6: The
open-loop transfer function of a
control system is given as,
G(s)=kç_
(10s+1
Sketch the asymptotic Bode diagram of control system.
Solution: The open-loop transfer unction of control system is given as,
G(s)=
(10s+1)
The overall amplitude ratio for the control is
system given as,
AR 1
ke 1+(10w 1+(10w

AR
At low frequency asymptote w 0 or

At high frequency asymptote w

and log ke AR-2log(10w)
 189
Design of Control Systems Using Frequency Response

AR
This is equation of line passing through

and 10 w = 1 or w = 0.1, slope = -2 and corner frequency w = 0.1

The overall phase angle 0,vorall

Overall
Can be given as,

Overall tan'(-10 w) +tan'(-10 w)

-2 tan' (10 w)
overail
W 10 w overall-2 tan" (10 w)

0
0.1 1 -90°
-180

AR
The Bode diagram can be obtained by plotting versus w and the overall phase

angle versus w. The Bode diagram is shown in Fig. (8.16).

100

10

AR
0-1

Gs) (1Os+1)
0-01
slope-2

0.001 100
0-01 0-1 .10
W

W
0.01 0.1 10 100
0
- G6) 10s +1
180

Fig. 8.16 Bode diagram of control system

 insfrumertat
Crntrol &
Process

90
PROBLEMS

transter

having open loop

control system
of a
Bode diagram
Sketch the asvmptotic

function is given as,

, i0s +1)
G6(01s+ 1)(s+1) o r d e r systems
having time
control t v o first
is used to the control
A proportional
controller diagram for
Bode
asymptotic
and 10. Sketch the
in series.
=

constants T,
=
1 t, first order systems
two non-interacting time T,
s'stem.
Assume
the integral
is used to control system
a
10. Sketch the asymptotic
controller
S.3 A proportional integral the time c o n s t a n t t,
=

first order having

and the system is
the control system.
Bode diagram for
a control system
is given as,
transter function of
S.4 The open-loop

kc (6s+1)
Gs)= (s+1)(10s+1)
of control system.
Sketch the asymptotic Bode diagram control two first
time 1 and gain kç = 10 is used to
=

8.5 A PI controller with integral t

10. Sketch the Bode diagram for
time constants t, 1 and t2 =
=

order systems having

first order systems in series.
Assume two non-interacting
the control system.
first order systems
A proportional controller is
used to control two non-interacting
8.6 1. Sketch the asymptotic Bode diagram
of the
time constants T, 0.6 and t, =
=

having
control system.
integral and the time T =10 and the derivative
8.7 A PIDt controller having the gain kc =6
time = 0.6. Sketch the asymptotic Bode diagram of the control system.

time 7 =1 and the derivative time Tp 0.6 is used to =

8.8 A PID controller with integral

10. Sketch the Bode
control the first order control system having time constant T,
=

diagram for the control systerm.

The open loop transfer function of the control system is G(s) = (5 s + 1)3, Sketch the
3.9
asymptotic Bode diagrar1 for the control system.
3.10 The open loop transfer function of the control system is G(s) = (s +10)3. Sketch the

asymptotic Bode diagram of control system.