Process Control & Instrumentation

CONTROL SYSTEM ANALYSIS

& DESIGN BY FREQUENCY
RESPONSE
MAPUA INSTITUTE OF
TECHNOLOGY
School of Chemical Engineering &
Chemistry
 LEARNING OBJECTIVES
• Be able to apply the FREQUENCY RESPONSE
method in stability analysis and in the
design of controllers
• Be familiar with the BODE Stability Criterion
• Have an understanding of the concept of
GAIN and PHASE MARGINS
• Be able to determine initial PID settings
FREQUENCY RESPONSE
The response of an output variable to a sinusoidal input.
•
Key determinants are the AMPLITUDE and the FREQUENCY of the sinusoid.
•
 Consider a 1st Order System:
Transfer Function = ratio of the Laplace Transform of the output variable
to that of the input variable

(5-3)
Y(s K
U(s = Y(s)
)U( (τ s +
)
where:
s) 1)
• U(s) = Laplace Transform of the DEVIATION VARIABLE U

• Y(s) = Laplace Transform of the DEVIATION VARIABLE Y

 Suppose a Sinusoidal Change in u is applied:
u Period of
Oscillation, T U(t) =
(A)sinω t
(5-14)
A A u(t) = us +
us
(A)sinω t
A

0 time, t
where:
• A = Amplitude
Y(t) = ? ∀ ω = radian frequency
Parameters of the Sinusoidal Input:

• Radian Frequency = 2π f
where: f = cyclical frequency = 1/T

• T = Period of Oscillation
= the time it takes to complete one cycle
 Sinusoidal Response of a 1st Order System:
AKω τ e- AK
Y(t) t/ τ + sin(ω t + (5-26)
= (τ 2ω 2 + √ (τ 2ω 2 φ )
y 1) + 1)
AK φ
√ (τ 2ω 2
+
1)
A
ys

0 time, t
Properties of 1st Order Sinusoidal Response:

• First Order Sinusoidal Response is attenuated

– ratio of the amplitude of Y to that of U is
less than 1

• First Order Sinusoidal Response lags the

Sinusoidal Input by the phase angle φ
∀ φ = tan-1 (-ω τ )
• phase lag = |φ |/ 360f (5-27)
1st Order Frequency Response:
o
• As the frequency ω increases, the phase angle Φ approaches 90 .

Input (u)
Output (y)
u, y
φ

us, ys

0 time, t
BODE Plot of a 1st Order Frequency Response:
•Log-log plot of Amplitude Ratio and Frequency
•Semi-log plot of Phase Angle and Frequency

10.00 0.00
Logarithm of AMPLITUDE RATIO

-10.00

-20.00
1.00

PHASE ANGLE
-30.00
-40.00

0.10 -50.00
-60.00
-70.00
0.01
-80.00

-90.00
0.00 -100.00

0
1
2
4
8
10
20
40
80
1
2
4
8
0. 2
4
8
01
02
04
08
1

10
00
00
00
00

0.
0.
0.
0.
0.
0.
0.
0.
0.
0.

0.

Amplitude Ratio Phase Angle

Logarithm of FREQUENCY
 Alternative Way of Determining
Frequency (i.e. Sinusoidal) Response
from the Transfer Function:

• Substitute jω for s in the Transfer Function:

• G(s) = G(jω )
• Multiply the resulting equation by its complex conjugate
• Determine the MAGNITUDE and ARGUMENT of the resulting
complex number:
• G(jω ) = Real Part + Imaginary Part
• MAGNITUDE = |G(jω )| = √[Real Part2 + Imaginary Part2]
• ARGUMENT = LG(jω ) = tan-1 [Imaginary Part/Real Part]

AMPLITUDE RATIO = MAGNITUDE

PHASE ANGLE = ARGUMENT
Illustrative Example #1:

Determine the frequency response of

a 1st Order System.

Y(s K
=
)U( (τ s +
s) 1)
 Illustrative Example #1:

• Substitute jω for s in the Transfer Function

• G(s) = G(jω )

K
G(s)
= (τ s +
1)
K
G(jω )
= (τ jω
+ 1)
 Illustrative Example #1:

• Multiply the resulting equation by its complex conjugate

K (-jω τ +
G(jω ) x
(jω τ + 1)
(-jω τ +
=
K(-j1)
ω τ + 1)
K(1 -
G(jω ) =
= (ω τ + 1)
2 2 ω 2τj)
(ω τ +2

1)
K K1)
ω τ
G(jω ) - j
= (ω τ + (ω τ +
2 2 2 2
 Illustrative Example #1:

• Determine the MAGNITUDE and ARGUMENT of the resulting

complex number:
• G(jω ) = Real Part + Imaginary Part
• MAGNITUDE = |G(jω )| = √[Real Part2 + Imaginary Part2]

2
√[ ] [
K -Kω τ
|G(jω )| +
(ω τ +2 2
(ω τ +
2 2
=
1) 1)
2 K

]
AMPLITUDE RATIO =
|G(jω )| = √(ω τ +
2 2
 Illustrative Example #1:

• Determine the MAGNITUDE and ARGUMENT of the resulting complex number:

• G(jω ) = Real Part + Imaginary Part
-1
• ARGUMENT = LG(jω ) = tan [Imaginary Part/Real Part]

LG(jω ) =
tan (
-1ω τ
1)
+ [
(ω τ +
1)
-Kω τ
2 2
/ ]
K
2 2

-
PHASE ANGLE = tan
(-ω τ)
1
 AMPLITUDE RATIO (AR) & PHASE ANGLE (Φ)
for
Different Systems (1/3)

• 1st Order Systems in Series:

• G(s) = K/(τs + 1)n
• AR = K[1/√(τ2ω 2 + 1)]n
• Φ = n[tan-1 (-ω τ)]

• Dead Time:
• G(s) = e-θs where: θ = Dead Time
• AR = 1
• Φ = -θω [360/(2π)]
 AMPLITUDE RATIO (AR) & PHASE ANGLE (Φ)
for
Different Systems (2/3)

• Proportional Controller:
• G(s) = Kc
• AR = Kc
• Φ=0

• Proportional-Integral Controller:
• G(s) = Kc[1+1/(τIs)]
2 2
• AR = Kc√[1+1/(ω τI )]
-1
• Φ = tan [-1/(ω τI)]
 AMPLITUDE RATIO (AR) & PHASE ANGLE (Φ)
for
Different Systems (3/3)

• Proportional-Derivative Controller:
• G(s) = Kc[1+τDs]
2 2
• AR = Kc√[1+ω τD )]
-1
• Φ = tan [ω τD]

• Proportional-Integral-Derivative Controller:
• G(s) = Kc[1+ 1/(τIs + τDs )]
2
• AR = Kc√[1+ {ω τD - 1/(τIω )} ]
-1
• Φ = tan [ω τD - 1/(τIω )]
Properties of BODE PLOTS:

• Overall AMPLITUDE
RATIO (AR) for a Series = Product of Individual ARs
of Transfer Functions

• Overall PHASE ANGLE = Sum of Individual Φs

(Φ) for a Series of
Transfer Functions
BODE STABILITY CRITERION:
A control system is stable if the OPEN-
LOOP Frequency Response exhibits an
AMPLITUDE RATIO (AR) of less than 1
at its CRITICAL FREQUENCY (ω c).
• CRITICAL FREQUENCY = Frequency (ω ) at which
the PHASE ANGLE (Φ)
is -180o
 Illustrative Example #2:
(P-Control, 1st Order Process)
• Determine if the control system shown below will be stable using the
Bode Stability Criterion. The Controller is a Proportional-only
controller with the gain set at 1.6. The Process exhibits first order
dynamics with a steady state gain of 1 and a time constant of 1. The
Measuring Element and the Final Control Element have negligible
dynamic lags.

U
+
R + e M Final +
Controller V Control Process C
Element
-
B
Measuring
Element
BODE PLOT for Illustrative Example #2:
(P-Control, 1st Order Process)
10.0000 90

45

-45
1.0000

-90

-135

-180

0.1000
-225

-270

-315

0.0100 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

 Illustrative Example #3:
(PI-Control, 1st Order Process)
• Determine if the control system shown below will be stable using the
Bode Stability Criterion. The Controller is a Proportional-Integral
controller with the Gain set at 1.6 and the Integral Time set at 0.2. The
Process exhibits first order dynamics with a steady state gain of 1 and
a time constant of 1. The Measuring Element and the Final Control
Element have negligible dynamic lags.
U
+
R + e M Final +
Controller V Control Process C
Element
-
B
Measuring
Element
BODE PLOT for Illustrative Example #3:
(PI-Control, 1st Order Process)
10000.0000 90

45

1000.0000
0

-45
100.0000

-90

10.0000 -135

-180

1.0000
-225

-270
0.1000

-315

0.0100 -360

0
1

10

20

40

80
1

02

04

4
4

01

08

10
00

00

00

00

0.

0.

0.

0.
0.

0.

0.

0.
0.

0.

0.

0.

Amplitude Ratio Phase Angle

 Illustrative Example #4:

• Consider the feedback control system shown below. The Controller is a

Proportional-only controller. The Process, the Measuring Element, and
the Final Control Element exhibit first order dynamics. The Process has a
gain of 1 and a time constant of 5 seconds. The Measuring Element has a
gain of 1 and a time constant of 1 second. The Final Control Element has
a gain of 1 and a time constant of 2 seconds. Determine if the loop will be
stable for the following Controller Gain settings: (a) Kc = 1, (b) Kc = 12.8,
and (c) Kc = 20 . (Adapted from Ex. 11.4/11.10-Seborg, 2ed)
U
+
R + e M Final +
Controller V Control Process C
Element
-
B
Measuring
Element
 BODE PLOT for Illustrative Example #4:
(a) Kc = 1
100.0000 90

10.0000 45

1.0000 0

0.1000 -45

0.0100 -90

0.0010 -135

0.0001 -180

0.0000 -225

0.0000 -270

0.0000 -315

0.0000 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

BODE PLOT for Illustrative Example #4:
(b) Kc = 12.8
100.0000 90

45
10.0000

0
1.0000
-45

0.1000
-90

0.0100 -135

-180
0.0010

-225
0.0001
-270

0.0000
-315

0.0000 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

BODE PLOT for Illustrative Example #4:
(c) Kc = 20
100.0000 90

45
10.0000

0
1.0000
-45

0.1000
-90

0.0100 -135

-180
0.0010

-225
0.0001
-270

0.0000
-315

0.0000 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

 CONTROL SYSTEM DESIGN
BASED ON FREQUENCY RESPONSE
• GAIN MARGIN > 1.7
• GAIN MARGIN = 1/ARc
• ARc = AR at the Critical Frequency, ω c

• 30O < PHASE MARGIN < 45O

• PHASE MARGIN = 180O - Φc
• Φc = Φ at which AR is equal to 1

Source: James B. Riggs, TexasTech University

 Illustrative Example #5:

• Determine the GAIN MARGIN and the

PHASE MARGIN of the Control System in
Illustrative Example #4 for the following
Controller Gain settings:
(a) Kc = 1
(b) Kc = 3.085
(c) Kc = 10
(d) Kc = 12.77.
(Adapted from Ex. 11.4/11.10-Seborg, 2ed)
BODE Plot for Illustrative Example #5:
(b) Kc = 3.085
100.0000 90

10.0000 45

0
1.0000

-45
0.1000

-90
0.0100
-135
0.0010
-180

0.0001
-225

0.0000
-270

0.0000 -315

0.0000 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

 Illustrative Example #6:

• Consider the feedback control system shown below. The Controller is a

Proportional-only controller. The Process is a first order system with
dead time. The process steady state gain is 1, the process time constant is
1 min, and the process dead time is 1.02 min. The Measuring Element
and the Final Control Element have negligible dynamic lags. Determine
the Controller Gain that will result to a GAIN MARGIN of 1.7.
• (Adapted from Ex. 17.3-Coughanowr, 2ed)

U
+
R + e M Final +
Controller V Control Process C
Element
-
B
Measuring
Element
BODE PLOT for Illustrative Example #6:

100.0000 90

45

10.0000 0

-45

1.0000 -90

-135

0.1000 -180

-225

0.0100 -270

-315

0.0010 -360
0.001 0.002 0.004 0.008 0.01 0.02 0.04 0.08 0.1 0.2 0.4 0.8 1 2 4 8 10 20 40 80 100

Amplitude Ratio Phase Angle

 CONTROLLER TUNING
BASED ON FREQUENCY RESPONSE
• Prepare a BODE PLOT using a P-only
Controller with a Kc of 1.
• Determine the ω c & ARc
• Compute the ULTIMATE GAIN (Kcu )
• ULTIMATE GAIN (Kcu ) = Kc at which a Proportional-only
control loop is on the verge of instability.
• Kcu = 1/ARc

• Compute the ULTIMATE PERIOD (Pu)

• Pu = 2π/ω c
 CONTROLLER TUNING
BASED ON FREQUENCY RESPONSE
• Determine the PID setting from the ZIEGLER-NICHOLS Tuning
Correlation:

Kc τI τ D

P- 0.5 * Kcu n.a. n.a.

Controller
PI 0.45 * Kcu Pu/1.2 n.a.
Controller
PID 0.6 * Kcu Pu/2 Pu/8
Controller
 Illustrative Example #7:

• Consider the feedback control system shown below. The Controller is a

Proportional-Integral controller. The Process is a first order system with
dead time. The process steady state gain is 1, the process time constant is
1 min, and the process dead time is 1.02 min. The Measuring Element
and the Final Control Element have negligible dynamic lags. Determine
the Controller Gain and Integral Time using the Ziegler-Nichols
correlation.
• (Adapted from Ex. 17.3-Coughanowr, 2ed)
U
+
R + e M Final +
Controller V Control Process C
Element
-
B
Measuring
Element
 Illustrative Example #8:

• Determine an initial Controller Gain (Kc)

setting for the Control System in Illustrative
Example #4 using Frequency Response and
the Ziegler-Nichols correlation.
.
(Adapted from Ex. 11.4/11.10-Seborg, 2ed)