Objectives: 054414 Process Control System Design

LECTURE TWO
054414 PROCESS CONTROL SYSTEM DESIGN
054414 Process Control System Design

LECTURE 2:
FREQUENCY DOMAIN ANALYSIS
Daniel R. Lewin
Department of Chemical Engineering
Technion, Haifa, Israel
2-1
PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin
Frequency Domain Analysis
Objectives
On completing this section, you should be able to:
Draw Bode and Nyquist plots of an arbitrary SISO
linear system
Both by hand and using MATLAB
Sketch the temporal response of a SISO linear

system, given its Bode plot
Both by hand and using MATLAB/SIMULINK
Determine an appropriate transfer function given

the Bode plot of a SISO linear system.
Both by hand and using MATLAB
2-2
Daniel R. Lewin, Technion
LECTURE TWO
Frequency Response
s =i
p ( s ) p ( i )
U sin ( t )
Y sin ( t + )
P(s)
Amplitude ratio, AR = Y U = p (i)
Phase shift, = arg {p (i)} = tan 1

2-3
Im {p (i)}
Re {p (i)}
Frequency Response Example

Response of dead sea pond to cyclic perturbation:
dc
= 0.05c + 0.02E, c ( 0 ) = 0;E ( t ) = 3sin ( t ) , =

rad / h
dt
12
0.05t
Solution: c ( t ) = 0.0225e
+ 0.0229 ( sin ( t 1.383) )
p ( = 12 ) = 0.0229 3 = 0.0076
( = 12 ) = 1.383 rad (phase lag)
2-4
LECTURE TWO
Frequency Response 1o System

p (s) =
Kp
s + 1
Kp
p ( i ) =
i + 1
(1 i)
(1 + i) (1 i)
Kp
Kp (1 i)
(1 + )
2
The ultimate response has the following characteristics:

Kp
AR = p (i) =
1 + 22
Im {p (i)}
( ) = arg {p (i)} = tan 1
= tan 1 ( )
Re {p (i)}
Example (Dead Sea Pond):
0.002
0.04
p (s) =
=
s + 0.05 20s + 1
0.04
AR = p (i) =
. For = 12, AR = 0.0076
1 + 4002
( ) = tan 1 ( 20 ) .
For = 12, = 1.383
2-5
Freq. Response Plots 1o System

p (s) =
1
s +1
In the Bode magnitude

plot, log (AR) is plotted
against log ()
Bode Plot
AR(1.00) = 0.707
AR(100) = 0.010
AR(0. 10) = 0.995
p ( i ) =
AR(0.01) = 1.000
(1.00) = -45o
Phase
Log (AR)
AR(10.0) = 0.099
1 + 2
In the Bode phase plot,

Phase (in rad or degrees)
is plotted against log ()
(10.0) = -84.2o
(100) = -89.4o
(0.10) = -5.71o
( ) = tan 1 ( )
(0.01) = -0.57o
2-6
LECTURE TWO

Log (AR)
p (s) =
1 Bode Plot
s +1
lim
Kp
1+
2
= Kp
Asymptotes join at breakpoint

located at = 1/ rad/min
Asymptotes
-1
lim
Kp
1 + 22
= Kp
Phase
Gradient of high frequency

asymptote is -1 on a log-log scale
Asymptotes join at break point
lim tan ( ) = 0
1
lim tan 1 ( ) = 90o
2-7

Generating Bode Plots with MATLAB
w=logspace(-2,2,200);s=i*w;
p=1./(s+1);
AR=abs(p);
ph=180*phase(p)/pi;
subplot(2,1,1)
loglog(w,AR,'-r)
subplot(2,1,2)
semilogx(w,ph,'-r')
2-8
LECTURE TWO

In the Nyquist plot, p(i),
which is a complex number,
is plotted directly, as a
locus from = 0, to = .
2-9
AR
(o )
0.01
1.000
-0.57
0.10
0.995
-5.71
1.00
0.707
-45.0
10.0
0.099
-84.2
100
0.010
-89.4
Nyquist Plot
w=logspace(-2,2,200);s=i*w;
p=1./(s+1);
plot(p)

Bode Plot
2-10
Nyquist Plot
LECTURE TWO
Frequency ResponseIntegrator
p (s) =
Kp
s
p (i) =
Kp
i + 1
Kp i
i ( i)
iKp

AR = p (i) =
Kp
( ) = arg {p (i)} = tan 1
2-11
Im {p (i)}
Re {p (i)}
= tan 1 ( ) =
Frequency ResponseIntegrator
Bode Plot
2-12
Nyquist Plot
LECTURE TWO
Frequency Response Interpretation

1
1
and p2 ( s ) =
5s + 1
s +1
These two systems are excited by a series of steps (a square
wave, approximately) as shown below.
Consider two first order systems: p1 ( s ) =
Note that p1 responds more

sluggishly than p2, because its
time constant is 5 times larger.
Note also that the exciting
signal is only approximately a
square wave...
2-13

This is because it is actually made up of a series of harmonic
terms. In fact, it can be shown that a true square wave can be
expressed as the infinite series:
sin 2 (i 1 ) + 1 t
= sin ( t ) + 31 sin (3t ) + 1 sin ( 5t ) +

u ( t ) =
5
+
2
i
1
1
( )
i=1
More accurate approximations of
the true square wave are obtained
by using more terms in the above
expansion.
Any signal can be expressed as a

Fourier expansion of the form:
u ( t ) = ( ) sin ( t )
where () is the amplitude of the

signal at .
2-14
LECTURE TWO

Lets display the magnitudes of the terms in the expansion to
seven terms:
u7 ( t ) = sin ( t ) + 31 sin (3t ) + 1 sin ( 5t ) + +
5
1
sin
13
(13t )
on the Bode magnitude plot. This is equivalent to a step

(integrator)
2-15
Equivalent to the
square wave (step)
2-16
LECTURE TWO
2-17
Frequency Response Lead/Lag

p1 ( s ) = Kp ( s + 1 )
p1 (i) = Kp (i + 1 )
p2 ( s ) = Kp ( s + 1 ) p2 (i) = Kp ( i + 1 )

AR = p1 (i) = p2 (i) = Kp 1 + 22
1 ( ) = arg {p1 (i)} = tan 1
2 ( ) = arg {p2 (i)} = tan
2-18
Im {p1 (i)}
Re {p1 (i)}
Im {p2 (i)}
1
Re {p2 (i)}
= tan 1 ( )
= tan 1 ( )
LECTURE TWO
Frequency Response Lead/Lag

Bode Plot
Nyquist Plot
+1

asymptote is +1 on a log-log scale
2-19

p (s) =
Kp
Kp
p ( i ) =
(1 ) + i2
K ( (1 ) i2 )
p (i) =
( (1 ) + i2) ((1 ) i2)
K (1 )
K (2)
p ( i ) =
i
(1 ) + (2) (1 ) + (2)
s + 2s + 1
2 2
2 2
2 2

AR = p (i) =
Kp
(1 ) + (2)
2
2 2
( ) = arg {p (i)} = tan 1

2-20
10
Im {p (i)}
Re {p (i)}
2
= tan 1
2 2
1
LECTURE TWO

Bode Plot
lim
Kp
(1 + )
2
2 2
= Kp 22
-2

asymptote is -2 on a log-log scale
2-21
2
= 180o
lim tan 1
2 2
Frequency Response Complex p(s)

To construct asymptotes in Bode plots for:
( a s + 1 )( a2s + 1) ( ams + 1 ) s
p ( s ) = Kp 1
e
(b1s + 1)(b2s + 1 ) (bn s + 1)
On the Bode log AR plot, the amplitudes of each component
add up:
up log p ( s ) = logKp + log a1s + 1 + log a2s + 1 +
log b1s + 1 log b2s + 1

On the Bode linear phase plot scale, the phase of each
component add up:
up = arg {p ( s )} = arg {a1s + 1} + arg {a2s + 1} +
arg {b1s + 1} arg {b1s + 1} s
For large , log AR() vs. log has an asymptotic slope of

(n m)
For large , for MP p(s) [no positive zeros or delay terms],
approaches asymptotic value of (/2)(n m)
2-22
11
LECTURE TWO
Frequency Response MP/NMP

MP = Minimum phase, NMP = Non-minimum phase.
NMP systems are those that feature phase lags greater than
anticipated based on the systems AR alone. Those whose phase
lag corresponds to the systems AR are MP systems. NMP
components are either:
(a) Right-half plane (RHP) zeros, or (b) Dead time
RHP zeros: It is convenient to factor the RHP zero with its
LHP mirror image:pz ( s ) = ( zs + 1 ) ( zs + 1 ) . The AR of this
component is AR = 1, which has a phase lag of zero. In
contrast, for large , pz has a phase lag of:
lim arg {pz ( s )} = lim arg {zs + 1} lim arg {zs + 1}
= 2 2 =
Dead time: The phase lag of pd ( s ) = e s is . The AR of
this component is AR = 1, which has a phase lag of zero.
2-23
Class Exercise 1 - Sketch p(i)

Generate a Bode plot for the following transfer function:
p (s) =
s +1
2
(10s + 1 )
e 0.5s
Solution.
The Bode plot is plotted by combining the contributions of
the components:
s + 1,
2-24
12
1
2
(10s + 1)
and e 0.5s
LECTURE TWO
Class Exercise 1 - Sketch p(i)

Solution (Contd).
s +1
p (s) =
e 0.5s
2
(10s + 1 )
s +1
1
(10s +1)2
2-25
(e-0.5s)
0.01
-0.287
0.10
-2.87
1.00
-28.7
10.0
-287
s +1
e 0.5 s
(10s +1)2
Class Exercise 2 - Determine p(s)
Determine the transfer function, p(s) for the

process whose Bode diagram is given above.
2-26
13
LECTURE TWO
Class Exercise 2 - Solution

2 poles @ = 1
1 zero @ = 0.1
Kp = 1
p (s) =
2-27
(10s + 1 )
2
( s + 1)
or
( 10s + 1 )
2
( s + 1)
Class Exercise 2 - Solution
High asymptote -270o

(a) No delay
(b) NMP system
p (s) =
2-28
14
(10s + 1 )
2
( s + 1)
or
( 10s + 1 )
2
( s + 1)
LECTURE TWO
Summary
On completing this section, you should be able to:
Draw Bode and Nyquist plots of an arbitrary
SISO linear system
Compute each component separately and combine in
Bode plot
Sketch the response of a SISO linear system,

given its Bode plot
Based on interpretation of frequency response
Determine an appropriate transfer function given

the Bode plot of a SISO linear system.
Uses skills developed in
2-29
15

Objectives: 054414 Process Control System Design

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LECTURE TWO

054414 PROCESS CONTROL SYSTEM DESIGN

054414 Process Control System Design

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Sketch the temporal response of a SISO linear

Determine an appropriate transfer function given

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

Amplitude ratio, AR = Y U = p (i)

Phase shift, = arg {p (i)} = tan 1

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Frequency Response Example

= 0.05c + 0.02E, c ( 0 ) = 0;E ( t ) = 3sin ( t ) , =

( = 12 ) = 1.383 rad (phase lag)

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

Frequency Response 1o System

The ultimate response has the following characteristics:

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Freq. Response Plots 1o System

In the Bode magnitude

In the Bode phase plot,

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

Freq. Response Plots 1o System

Asymptotes join at breakpoint

Gradient of high frequency

lim tan 1 ( ) = 90o

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Freq. Response Plots 1o System

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

Freq. Response Plots 1o System

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Frequency Response 1o System

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

The ultimate response has the following characteristics:

( ) = arg {p (i)} = tan 1

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

PROCESS CONTROL SYSTEM DESIGN - (c) Daniel R. Lewin

Frequency Domain Analysis

Daniel R. Lewin, Technion

054414 PROCESS CONTROL SYSTEM DESIGN

Frequency Response Interpretation

Consider two first order systems: p1 ( s ) =

Note that p1 responds more