14-1

Chapter 14



14.1


Let G
OL
(j
c
) = R + jI

where
c
is the critical frequency. Then, according to the Bode stability
criterion

| G
OL
(j
c
)| = 1 =
2 2
I R +
G
OL
(j
c
) = - = tan
1
(I/R)

Solving for R and I: R = -1 and I = 0

Substituting s = j
c
into the characteristic equation gives,

1 + G
OL
(j
c
) = 0

I + R + jI = 0 or R = -1 , I = 0

Hence, the two approaches are equivalent.


14.2


Because sustained oscillations occur at the critical frequency


1
2
0.628min
10 min
c


= =
(a) Using Eq. 14-7,

1 = (K
c
)(0.5)(1)(1.0) or K
c
= 2

(b) Using Eq. 14-8,

= 0 + 0 +(-
c
) + 0
or = 5 min

=

Solution Manual for Process Dynamics and Control, 2
nd
edition,
Copyright 2004 by Dale E. Seborg, Thomas F. Edgar and Duncan A. Mellichamp
Revised: 1-3-04
14-2


14.3


(a) From inspection of the Bode diagrams in Tables 13.4 and 13.5, the
transfer function is selected to be of the following form

G(s) =
) 1 )( 1 (
) 1 (
2 1
+ +
+
s s s
s K
a


where
a
,
1
,
2
correspond to frequencies of = 0.1, 2, 20 rad/min,
respectively.

Therefore,
a
= 1/0.1 = 10 min


1
=1/2 = 0.5 min


2
= 1/20 = 0.05 min

For low frequencies, AR |K/s| = K/

At = 0.01, AR = 3.2, so that K = ()(AR) = 0.032

Therefore,

G(s) =
) 1 05 . 0 )( 1 5 . 0 (
) 1 10 ( 032 . 0
+ +
+
s s s
s


(b) Because the phase angle does not cross -180, the concept of GM is
meaningless.


14.4


The following process transfer can be derived in analogy with Eq. 6-71:


2
1 1
1
1 1 2 2 1 1 2 1 2 2
( )
( )
( ) ( ) 1
=
+ + + +
H s R
Q s
A R A R s A R A R A R s


For R
1
=0.5, R
2
= 2, A
1
= 10, A
2
= 0.8:

14-3
G
p
(s) =
1 7 8
5 . 0
2
+ + s s
(1)

For R
2
= 0.5: G
p
(s) =
1 8 . 5 2
5 . 0
2
+ + s s
(2)

(a) For R
2
= 2

G
p
= tan
-1
(
(

2
8 1
7
c
c
, |G
p
| =
2 2 2
0.5
(1 8 ) (7 ) +
c c


For G
v
= K
v
= 2.5,
v
=0, |G
v
| = 2.5

For G
m
=
1 5 . 0
5 . 1
+ s
,
m
= -tan
-1
(0.5) , |G
m
| =
1 ) 5 . 0 (
5 . 1
2
+
c


K
cu
and
c
are obtained using Eqs. 14-7 and 14-8:

-180 = 0 + 0 + tan
-1
(
(

2
8 1
7
c
c
tan
-1
(0.5
c
)

Solving,
c
= 1.369 rad/min.


|
|
.
|

\
|
+
=
2 2 2
) 7 ( ) 8 1 (
5 . 0
) 5 . 2 )( ( 1
c c
cu
K
|
|
.
|

\
|
+ 1 ) 5 . 0 (
5 . 1
2
c


Substituting
c
= 1.369 rad/min, K
cu
= 10.96,
c
K
cu
= 15.0

For R
2
=0.5

G
p
= tan
-1
(
(

2
2 1
8 . 5
c
c
, |G
p
| =
|
|
.
|

\
|
+
2 2 2
) 8 . 5 ( ) 2 1 (
5 . 0
c c


-180 = 0 + 0 + tan
-1
(
(

2
2 1
8 . 5
c
c
tan
-1
(0.5
c
)

Solving,
c
= 2.51 rad/min.

Substituting
c
= 2.51 rad/min, K
cu
= 15.93,
c
K
cu
= 40.0

14-4
(a) From part (a), for R
2
=2,

c
= 1.369 rad/min, K
cu
= 10.96
P
u
=
c

2
= 4.59 min

Using Table 12.6, the Ziegler-Nichols PI settings are

K
c
= 0.45 K
cu
= 4.932 ,
I
= P
u
/1.2 = 3.825 min

Using Eqs. 13-63 and 13-62 ,

c
= -tan
-1
(-1/3.825)

|G
c
| = 4.932 1
825 . 3
1
2
+ |
.
|

\
|

Then, from Eq. 14-7

-180 = tan
-1
(

c
825 . 3
1
+ 0 + tan
-1
(
(

2
8 1
7
c
c
tan
-1
(0.5
c
)

Solving,
c
= 1.086 rad/min.

Using Eq. 14-8,

A
c
= AR
OL
|
=c
=

=
|
|
.
|

\
|
+
|
|
|
.
|

\
|
+
|
|
.
|

\
|

2 2 2
2
) 7 ( ) 8 1 (
5 . 0
) 5 . 2 ( 1
825 . 3
1
932 . 4
c c
c

|
|
.
|

\
|
+ 1 ) 5 . 0 (
5 . 1
2
c


= 0.7362

Therefore, gain margin GM =1/A
c
= 1.358.

Solving Eq.(14-16) for
g


AR
OL
|
=c
= 1 at
g
= 0.925

14-5
Substituting into Eq. 14-7 gives
g
=|
=g
= 172.7.

Therefore, phase margin PM = 180+
g
= 7.3.



14.5


(a) K=2 , = 1 , = 0.2 ,
c
=0.3

Using Eq. 12-11, the PI settings are

1
1
=
+

=
c
c
K
K ,
I
= = 1 min,

Using Eq. 14-8 ,

-180 = tan
-1
|
|
.
|

\
|

c
1
0.2
c
tan
-1
(
c
) = -90 0.2
c


or
c
=
2 . 0
2 /
= 7.85 rad/min

Using Eq. 14-7,

255 . 0
2
1
2
1
1
AR
2
2
=

=
|
|
.
|

\
|
+
+

= =
=
c
c
c
OL c
c
A

From Eq. 14-11, GM = 1/A
c
= 3.93.


(b) Using Eq. 14-12,


g
= PM 180 = 140 = tan
-1
(-1/0.5
g
) 0.2
g
tan
-1
(
g
)

Solving by trial and error,
g
= 3.04 rad/min

|
|
|
.
|

\
|
+
+
|
|
.
|

\
|

= =
=
1
2
1
5 . 0
1
1 AR
2
2
g
g
c OL
K
g


Substituting for
g
gives K
c
= 1.34. Then from Eq. 14-8
14-6

180 = tan
-1
|
|
.
|

\
|

c
5 . 0
1
0.2
c
tan
-1
(
c
)

Solving by trial and error,
c
=7.19 rad/min.

From Eq. 14-7,
383 . 0
1
2
1
5 . 0
1
34 . 1 AR
2
2
=
|
|
.
|

\
|
+
+
|
|
.
|

\
|

= =
=
c
c
OL c
c
A

From Eq. 14-11, GM = 1/A
c
= 2.61


(c) By using Simulink-MATLAB, these two control systems are compared for
a unit step change in the set point.
0 1 2 3 4 5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
time
y
part (a)
part (b)

Fig S14.5. Closed-loop response for a unit step change in set point.

The controller designed in part a) (Direct Synthesis) provides better
performance giving a first-order response. Part b) controller yields a large
overshoot.

14-7


14.6


(a) Using Eqs. 14-7 and 14-8,

2
2 2 2
4 1 2 0.4
AR (1.0)
0.01 1 0.25 1 25 1
m
OL c
sp
Y
K
Y


| |
| || |
+
|
= = | |
| |
|
+ + +
\ .\ .
\ .


= tan
-1
(2) tan
-1
(0.1) tan
-1
(0.5) (/2) tan
-1
(5)
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-4
10
-2
10
0
10
2
10
-2
10
-1
10
0
10
1
10
2
-270
-225
-180
-135
-90

Figure S14.6a. Bode plot

(b) Using Eq.14-12

g
= PM 180 = 30 180 = 150

From the plot of vs. :
g
= -150 at
g
= 1.72 rad/min

14-8
From the plot of
c
OL
K
AR
vs :
g
c
OL
K
=
AR
= 0.144
Because
g
OL
=
AR = 1 , K
c
=
144 . 0
1
= 6.94

(c) From the phase angle plot:



= -180 at
c
= 4.05 rad/min

From the plot of
c
OL
K
AR
vs ,
c
c
OL
K
=
AR
= 0.0326
A
c
=
c
OL
=
AR = 0.326

From Eq. 14-11, GM = 1/A
c
= 3.07.
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-4
10
-2
10
0
10
2
10
-2
10
-1
10
0
10
1
10
2
-270
-225
-180
-135
-90

Figure S14.6b. Solution for part (b) using Bode plot.

14-9
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-4
10
-2
10
0
10
2
10
-2
10
-1
10
0
10
1
10
2
-270
-225
-180
-135
-90

Figure S14.6c. Solution for part (c) using Bode plot.



14.7


(a) For a PI controller, the |G
c
| and G
c
from Eqs. 13.62 and 13.63 need to
be included in the AR and given for G
v
G
p
G
m
to obtain AR
OL
and
OL
.
The results are tabulated below

AR |Gc|/K
c
AR
OL
/Kc G
c

OL

0.01 2.40 250 600 -3 -89.8 -92.8
0.10 1.25 25.020 31.270 -12 -87.7 -99.7
0.20 0.90 12.540 11.290 -22 -85.4 -107.4
0.50 0.50 5.100 2.550 -41 -78.7 -119.7
1.00 0.29 2.690 0.781 -60 -68.2 -128.2
2.00 0.15 1.601 0.240 -82 -51.3 -133.3
5.00 0.05 1.118 0.055 -122 -26.6 -148.6
10.00 0.02 1.031 0.018 -173 -14.0 -187.0
15.00 0.01 1.014 0.008 -230 -9.5 -239.5


From Eq. 14-12,
g
= PM 180 = 45 180 = -135.

Interpolating the above table,
OL
= -135 at
g
= 2.5 rad/min and
14-10
g
c
OL
K
=
AR
= 0.165

Because
g
OL
=
AR = 1 , K
c
=
165 . 0
1
= 6.06


(b) From the table above,

OL
= -180 at
c
= 9.0 rad/min and
c
c
OL
K
=
AR
= 0.021
A
c
=
c
OL
=
AR = 0.021 K
c
= 0.127

From Eq. 14-11,

GM = 1/A
c
= 1/0.127 = 7.86


(c) From the table in part (a),

OL
= -180 at
c
= 10.5 rad/min and
c
=
AR = 0.016.

Therefore, P
u
=
c

2
= 0.598 min and K
cu
=
c
AR
=
1
= 62.5.

Using Table 12.6, the Ziegler-Nichols PI settings are

K
c
= 0.45 K
cu
= 28.1,
I
= P
u
/1.2 = 0.50 min

Tabulating AR
OL
and
OL
as in part (a) and the corresponding values of M
using Eq. 14-18 gives:

|G
c
| G
c
AR
OL

OL
M
0.01 5620 -89.7 13488 -92.7 1.00
0.10 563.0 -87.1 703 -99.1 1.00
0.20 282.0 -84.3 254 -106.3 1.00
0.50 116.0 -76.0 57.9 -117.0 1.01
1.00 62.8 -63.4 18.2 -123.4 1.03
2.00 39.7 -45.0 5.96 -127.0 1.10
5.00 30.3 -21.8 1.51 -143.8 1.64
10.00 28.7 -11.3 0.487 -184.3 0.94
15.00 28.3 -7.6 0.227 -237.6 0.25

Therefore, the estimated value is M
p
=1.64.
14-11


14.8


K
cu
and
c
are obtained using Eqs. 14-7 and 14-8. Including the filter G
F

into these equations gives

-180 = 0 + [-0.2
c
tan
-1
(
c
)]+[-tan
-1
(
F

c
)]

Solving,


c
= 8.443 for
F
= 0

c
= 5.985 for
F
= 0.1

Then from Eq. 14-8,

( )
|
|
.
|

\
|
+
|
|
.
|

\
|
+
=
1
1
1
2
1
2 2 2
c F c
cu
K

Solving for K
cu
gives,

K
cu
= 4.251 for
F
= 0
K
cu
= 3.536 for
F
= 0.1

Therefore,


c
K
cu
= 35.9 for
F
= 0

c
K
cu
= 21.2 for
F
= 0.1

Because
c
K
cu
is lower for
F
= 0.1, filtering the measurement results in
worse control performance.


14.9


(a) Using Eqs. 14-7 and 14-8,

) 0 . 1 (
1
1
1 100
5
1
25
1
AR
2 2
2
|
|
.
|

\
|
+
|
|
.
|

\
|
+
|
|
.
|

\
|
+

=
c OL
K

= tan
-1
(-1/5) + 0 + (-2 tan
-1
(10)) + (- tan
-1
())
14-12
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-2
10
-1
10
0
10
1
10
2
10
-2
10
-1
10
0
10
1
10
2
-350
-300
-250
-200
-150
-100

Figure S14.9a. Bode plot


(b) Set = 180 and solve for to obtain
c
= 0.4695.

Then
c
OL
=
AR = 1 = K
cu
(1.025)

Therefore, K
cu
= 1/1.025 = 0.976 and the closed-loop system is stable for
K
c
0.976.


(c) For K
c
= 0.2, set AR
OL
= 1 and solve for to obtain
g
= 0.1404.

Then
g
=
g
=
= -133.6

From Eq. 14-12, PM = 180 +
g
= 46.4


(d) From Eq. 14-11
14-13

GM = 1.7 =
c
A
1
=
c
OL
=
AR
1


From part (b),
c
OL
=
AR = 1.025 K
c


Therefore, 1.025 K
c
= 1/1.7 or K
c
= 0.574
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-2
10
-1
10
0
10
1
10
2
10
-2
10
-1
10
0
10
1
10
2
-350
-300
-250
-200
-180
-150

Figure S14.9b. Solution for part b) using Bode plot.
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
/
K
c
10
-2
10
-1
10
0
10
1
10
2
10
-2
10
-1
10
0
10
1
10
2
-350
-300
-250
-200
-180
-150

Figure S14.9c. Solution for part c) using Bode plot.



14-14

14.10

(a)
1 083 . 0
264 . 5
112
1 083 . 0
047 . 0
) (
+
=
+
=
s s
s G
v


) 1 017 . 0 )( 1 432 . 0 (
2
) (
+ +
=
s s
s G
p



0.12
( )
0.024 1
m
G s
s
=
+


Using Eq. 14-8

-180 = 0 tan
-1
(0.083
c
) tan
-1
(0.432
c
) tan
-1
(0.017
c
)
tan
-1
(0.024
c
)

Solving by trial and error,
c
= 18.19 rad/min.

Using Eq. 14-7,
|
|
.
|

\
|
+ +

|
|
.
|

\
|
+
=
1 ) 017 . 0 ( 1 ) 432 . 0 (
2
1 ) 083 . 0 (
624 . 5
) ( 1
2 2 2
c c c
cu
K

2
0.12
(0.024 ) 1
c

| |
|

|
+
\ .

Substituting
c
=18.19 rad/min, K
cu
= 12.97.

P
u
= 2/
c
= 0.345 min

Using Table 12.6, the Ziegler-Nichols PI settings are

K
c
= 0.45 K
cu
= 5.84 ,
I
=P
u
/1.2 = 0.288 min


(b) Using Eqs.13-62 and 13-63

c
= G
c
= tan
-1
(-1/0.288)= -(/2) + tan
-1
(0.288)

|G
c
| = 5.84 1
288 . 0
1
2
+
|
.
|

\
|

Then, from Eq. 14-8,

14-15

- = (/2) + tan
-1
(0.288
c
) tan
-1
(0.083
c
) tan
-1
(0.432
c
)

tan
-1
(0.017
c
) tan
-1
(0.024
c
)


Solving by trial and error,
c
= 15.11 rad/min.

Using Eq. 14-7,

(
(

(
(

+
|
|
.
|

\
|

= =
=
1 ) 083 . 0 (
264 . 5
1
288 . 0
1
84 . 5 AR
2
2
c
c
c
OL c
A
2 2 2
2 0.12
(0.432 ) 1 (0.017 ) 1 (0.024 ) 1
c c c

( (
( (

( (
+ + +




= 0.651

Using Eq. 14-11, GM = 1/A
c
= 1.54.

Solving Eq. 14-7 for
g
gives

g
OL
=
AR = 1 at
g
= 11.78 rad/min
Substituting into Eq. 14-8 gives

g
=
g
=
= (/2) + tan
-1
(0.288
g
) tan
-1
(0.083
g
)
tan
-1
(0.432
g
) tan
-1
(0.017
g
) tan
-1
(0.024
g
) = -166.8

Using Eq. 14-12,

PM = 180 +
g
= 13.2


14.11


(a)
2 2
10 1.5
| | (1)
1 100 1
G

| || |
= | |
| |
+ +
\ .\ .


= tan
-1
() tan
-1
(10) 0.5
14-16
Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
10
-1
10
0
10
1
10
2
10
-2
10
-1
10
0
10
1
-270
-180
-90
0

Figure S14.11a. Bode plot for the transfer function G=G
v
G
p
G
m
.

(b) From the plots in part (a)

G = -180 at
c
= 1.4 and |G|
=c
= 0.62

c
OL
=
AR = 1= (- K
cu
) |G|
=c


Therefore, K
cu
= -1/0.62 = -1.61 and

P
u
= 2/
c
= 4.49

Using Table 12.6, the Ziegler-Nichols PI-controller settings are:

K
c
= 0.45K
cu
= -0.72 ,
I
= P
u
/1.2 = 3.74

Including the |G
c
| and G
c
from Eqs. 13-62 and 13-63 into the results of
part (a) gives


|
|
.
|

\
|
+ +
+ |
.
|

\
|

=
1 100 1
15
1
74 . 3
1
72 . 0 AR
2 2
2
OL

14-17

+ +
+
=
1 100 1
1 0 . 14 89 . 2
2 2
2

= tan
-1
(-1/3.74) tan
-1
() tan
-1
(10) 0.5

Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
10
-2
10
0
10
2
10
4
10
-2
10
-1
10
0
10
1
-360
-270
-180
-90
0
90

Figure S14.11b. Bode plot for the open-loop transfer function G
OL
=G
c
G.

(c) From the graphs in part (b),

= -180 at
c
=1.15

c
OL
=
AR = 0.63 < 1

Hence, the closed-loop system is stable.
14-18

Bode Diagram
Frequency (rad/sec)
P
h
a
s
e

(
d
e
g
)
A
R
10
-2
10
0
10
2
10
4
10
-2
10
-1
10
0
10
1
-270
-180
-90
`
Figure S14.11c. Solution for part (c) using Bode plot.


(d) From the graph in part b),

5 . 0
AR
=
OL
= 2.14 =
amplitude of ( )
amplitude of ( )
m
sp
y t
y t

Therefore, the amplitude of y
m
(t) = 5 . 1 14 . 2 = 3.21.

(e) From the graphs in part (b),
5 . 0
AR
=
OL
= 2.14 and
5 . 0 =
=-147.7.

Substituting into Eq. 14-18 gives M = 1.528. Therefore, the amplitude of
y(t) = 1.5281.5 = 2.29 which is the same as the amplitude of y
m
(t)
because G
m
is a time delay.

(f) The closed-loop system produces a slightly smaller amplitude for = 0.5.
As approaches zero, the amplitude approaches one due to the integral
control action.
14-19


14.12


(a) Schematic diagram:


Block diagram:


(b) G
v
G
p
G
m
= K
m
= 6 mA/mA

G
TL
= e
-8s


G
OL
= G
v
G
p
G
m
G
TL
= 6e
-8s



If G
OL
= 6e
-8s
,

| G
OL
(j) | = 6

G
OL
(j) = -8 rad


Find
c
: Crossover frequency generates 180 phase angle = radians

-8
c
= - or
c
= /8 rad/s

Hot fluid
TT
TC
Cold fluid
Mixing Point Sensor
14-20
Find P
u
: P
u
=
2 2
16s
/ 8
c
= =
Find K
cu
: K
cu
= 167 . 0
6
1
| ) ( |
1
= =

c p
j G



Ziegler-Nichols decay ratio settings:

PI controller:

K
c
= 0.45 K
cu
= (0.45)(0.167) = 0.075

I
= P
u
/1.2 = 16/1.2 = 13.33 sec

PID controller:

K
c
= 0.6 K
cu
= (0.6)(0.167) = 0.100

I
= P
u
/2 = 16/2 = 8 s

D
= P
u
/8 = 16/8 = 2 s

(c)
0 30 60 90 120 150
0
0.2
0.4
0.6
0.8
1
1.2
1.4
PID control
PI control
y
t

Fig. S14.12. Set-point responses for PI and PID control.

14-21
(d) Derivative control action reduces the settling time but results in a more
oscillatory response.




14.13


(a) From Exercise 14.10,

1 083 . 0
264 . 5
) (
+
=
s
s G
v

) 1 017 . 0 )( 1 432 . 0 (
2
) (
+ +
=
s s
s G
p


) 1 024 . 0 (
12 . 0
) (
+
=
s
s G
m

The PI controller is |
.
|

\
|
+ =
s
s G
c
3 . 0
1
1 5 ) (
Hence the open-loop transfer function is


m p v c OL
G G G G G =

Rearranging,


s s s s s
s
G
OL
+ + + +
+
=
2 3 4 5 5
556 . 0 05738 . 0 00168 . 0 10 46 . 1
06 . 21 317 . 6


14-22
By using MATLAB, the Nyquist diagram for this open-loop system is

Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-3 -2.5 -2 -1.5 -1 -0.5 0
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1

Figure S14.13a. The Nyquist diagram for the open-loop system.

(b) Gain margin = GM =
c
AR
1


where AR
c
is the value of the open-loop amplitude ratio at the critical
frequency
c
. By using the Nyquist plot,
Nyquist Diagram
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
-3 -2.5 -2 -1.5 -1 -0.5 0
-4
-3.5
-3
-2.5
-2
-1.5
-1
-0.5
0
0.5
1

Figure S14.13b. Graphical solution for part (b).
14-23
= -180 AR
c
= | G(j
c
)| = 0.5

Therefore the gain margin is GM = 1/0.5 = 2.


14.14

To determine
p
m
M
e
1
| | max <

, we must calculate M
p
based on the CLTF
with IMC controller design. In order to determine a reference M
p
, we
assume a perfect process model (i.e. G G
~
= 0 ) for the IMC controller
design.

G G
R
C
c
*
=

Factoring,


+
= G G G
~ ~ ~


1 2
10 ~
,
~
+
= =

+
s
G e G
s

f
s
G
c
10
1 2
*
+
=

Filter Design: Because = 2 s, let
c
= /3 = 2/3 s.


1 3 2
1
+
=
s
f


10
1 2
*
+
=
s
G
c
10 3 20
1 2
1 3 2
1
+
+
=
+ s
s
s



10 3 20
10
1 2
10
10 3 20
1 2
*
+
=
|
|
.
|

\
|
+
|
|
.
|

\
|
+
+
= =

s
e
s
e
s
s
G G
R
C
s s
c


1 =
p
M

The relative model error with K as the actual process gain is:

14-24
10
10
1 2
10
1 2
10
1 2
~
~

=
+
(

+
=

=


K
s
e
s
e
s
Ke
G
G G
e
s
s s
m

Since M
p
= 1, 1
10
10
| | max <

K
e
m


1
10
10
<
K
K < 20

1
10
10
>
K
K > 0


20 0 < < K for guaranteed closed-loop stability.



14.15


Denote the process model as,

1
2 ~
2 . 0
+
=

s
e
G
s


and the actual process as:


1
2
2 . 0
+
=

s
e
G
s


The relative model error is:


1
) 1 (
) (
~
) (
~
) (
) (
+

=

=
s
s
s G
s G s G
s

Let s = j. Then,



| 1 |
| ) 1 ( |
1
) 1 (
+

=
+

=
j j
j
(1)


14-25
or


2 2
| (1 ) |
1

=
+


Because | | in (1) increases monotonically with ,

= =

| 1 |
| | lim | | max (2)

Substituting (2) and M
p
= 1.25 into Eq. 14-34 gives:

8 . 0
| 1 |
<

This inequality implies that

8 . 0
1
<

1 < 1.8 > 0.556
and

8 . 0
1
<

0.2 < 1 < 5

Thus, closed-loop stability is guaranteed if

0.556 < < 5