163

esign of Control Systems Using Frequency Response

linear control system can
These two relationships indicate that the response of any
of the system into a complex number and the
e obtained by converting the transfer function
the algebra of complex numbers.
nplitude ratio and phase angle were obtained by applying

8.2 Bode Diagram

of a system is represented by the Bode diagram.
frequency response characteristics
The
The Bode diagram is known in the honour
of H.W. Bode and it is a convenient way
of a linear control system.
oranalysis of the frequency response that the amplitude ratio AR
and the
From Eqs. (8.15) and (8.20) it can be observed
functions of the frequency w.
phase angle 0 are the
of the following graphs.
The Bode diagrams consists of a pair
The variation of the logarithm of
the amplitude ratio with radian frequency.
1.
with radian frequency.
2.The variation of the phase angle

8.3 Bode Diagrams for First Order System:

for first order system given as,
The amplitude ratio and the phase angle a

Amplitude ratio AR = 1+(wt)

Phase angle 0 = tan" (-wt) obtained by the

and
ratio versus radian frequency can be
The variation of the amplitude
amplitude
ollowing method.
0 or Wt >0 from eq. (8.15) the
asymptote w
1. For low frequency
ratio log AR
= 0 o r AR 1. = o from eq. (8.15) the amplitude
w> oo or w t - >
Frequency asymptote
2 For High
is a line
log wt. The high frequency asymptote
log AR
= -

or
ratio AR =
wri
the point AR
= 1 and wt =
1
of -1 and passing through the high frequency
with slope or LFA with
asymptote
i n t e r s e c t i o n of low frequency 1/t.
which is 1/t or w'
=
The point of t
c o r m e r frequency w can be
HFA is known as ratio versus radian frequency
symptote
variation of the amplitude 0 and w passing
Thus sketch of
the behaviour for w 0 with the
asymptotic
plotting the
approximate variation of the phase angle
btained by 1 and having w' = 1/t. The
0, w = 1 and w .

AR =
for w >
rough the point obtained from
the eq. (8.20) variation.
be the approximate phase
adian frequencylow frequency and high frequency give
can

variation for
he
tan (-wr)
WT
16 Process Control & Instrumentation

LEA low frequency asymptote

HEA high frequency asymptote

WT = 1 or w' = is the corner

frequency.
10

,LFA

Ampiitude HFA
rot:o
AR 0 1 Slope=-1

0.01

0-001
0-01 0.1
10 100
WT

0-01 0-1 10 100

Phase
angle -45

90

Fig. 8.1 (a) Bode diagram for first order system

8.4 First Order
Systems in Series:
The transfer function for two first
order non-interacting systems in series is given as,
1
G(s)overall (1+T,s)1+,5)
Therefore the amplitude ratio is given as,

(AR)0verall 1wT1-(w*,
(8.22)
and the
phase angle 0 is given as,
tan'(-wt,) +tan(-wt)
From these . 8.23)
relationships AR versus wT, and AR versus wt, be
can
plotted.
j Control Systems Using Frequency Response
165
Ihealgebraic sun of the slopes of the individual
respective region give the overall amplitude asymptotic
ther lines for the two systems
ratio of the system
i Cy. versus radian
(AR)overall = (AR,) (AR,)
(8.24)
or
log(AR)overall log AR, log AR, +
. (8.25)
AR = 1
where, and AR2 =.
1+(wT 1+ (wr
The phaSe angle Boverall for two
systems is given as,
overall8, +0,
where (8.26)
6, tan (-wT,)
=
and 0, tan (-wt,)
=

The overallphase angle is the sum of the

phase angles of the individual systems.
8 Bode Diagram for the Second Order
System:
The construction of the Bode
diagram for the second order system for different
iadues of the damping coefficients is determined
by plotting the AR versus wT and 6 versus
The transfer function for second order system is given as,

1
Gs)= +20Ts+1
Substitute s jw in the transfer function gives,

Giw)= (w +297(jw)+1 (8.27)

1
Giw)( +(20Tw)i+1 (8.28)

or
1-(w-(2rw)i
Uw-(wt} +(20w)j-w-(20Tw)i| (8.29)

(m-ni) (m-ni) m-nj

or
GW)(m+ni)(m-n) m-(ni) m+n
2

where m = 1- (wT)2 and n = 2 0 tw

or G(jw)= 1-(w 20Twj (8.30)

1-(wr) +(20Tw) -(wr)+(20 Tw)
 Process Conirol & Instrumentatio

166

Therefore,

ratio= (Real part) +(Imaginary

part)
Amplitude
.. (8.31)
1-(wt
Real part =
1-(wr +(2 9Tw)
-20TW (8.32)
and Imaginary part =

(1-(wr)) +(20Tw)
Therefore,
AR =
2 (8.33)
-(w r+(20wr)
0 =
tan aginary part
The phase angle Real part

6 = tan
(8.34)
1-(wt,
From Eqs. (8.33) and (8.34) the AR versus wt and phase angle 6 versus wt can be
potted for differènt values of the damping parameter o.

10 <1
- ) = 1
AR
>1
0.1

0-01-
0.1 10 100
wT
WT-
1 10 100
0
o1i
-45
e -90 21
- 135

180

Fig. 8.2 Bode diagram tor second order system

 ygn of Control Systems Using Freguency Response 167
6 Proportional Controller
The transfer function for proportional controller is given as,
G (s) =k
The amplitude ratio AR and phase angle0 remain constant irrespective of the variation
the radian frequency. The AR and 0 are given as
AR k and =0°

8.7 Bode Diagram for Proportional Derivative Controlier

The transfer function for PD controller is given as,

Gs) ke (1+Ts)
Substituting s = jw gives,

G iw) ke (1
=
+
jwTpD
Or Giw)-1+(w to) ... (8.35)

Real part =1 and Imaginary part = wtD

Therefore the amplitude ratio and phase angle are given as,

AR
kc
1+(wtp| (8.36)

. (8.37)
tan1 (wtp)
From Eqs. (8.36) and (8.37)
or LFA w 0 or wt 0
1. For low frequency asymptote
AR0
AR
Therefore log kc.
Okc
= 0 or AR1
1

2.
2. For high frequency asymptote HFA,
W o or wtn

AR JwTD (8.38)
Therefore kc
AR (8.39)
or k W Tpb

AR .. (8.40)
= log (wtp)
or log kc
AR +1. The
through = 1 and wT =
1 having slope is
This is a equation of line passing

corner frequency w = 1/p

168 Process Control &
Instrumen
The phase angle 0 is
given as,

tan (wT) (84

Theretore wt 0, 0 0° and wt 1, 0 45° and wt, = o, 9 = 9

10
HFA
LFA
Slobe +1

AR 0 1
Kc
0..01

001
0.01 0.1 10 100
wTD
D
90

45

0-01 0-1
10 100
wTD
Fig. 8.3 Bode
diagram for P controller
8.8 Bode
Diagram for Proportional Integral
The transfer function for Pl Controller:
controller is given as,
G(s) =

Substituting s = jw give,

G w)=k1+
(8.42)

or G(iw)-ke1 jwr)
(jwT)- iw )) .(8.43)