Page 180 - Practical Control Engineering a Guide for Engineers, Managers, and Practitioners

An Underda01ped Process 155

40r-~~~~~~~~~~~~~~~~~~~~
20
~ 0
... -20
~~ -40 . ···'·.
-60 ... ' t • "0 "
-801~ 1~ 1 1~ 1~

QJ -50
j
0..-100
~~
~ -150

1
- 2oot~~--~~1~~-2~~~1~~-~~~~l~~~~~l~0~~~1~
Frequency (Hz)
FIGURE 8-9 Open-loop Bode plot with PI control-mass/springjdashpot
process.

10
I:Q
"'t:S 0 . ·- ·-. . . . .. ..
~ -10 ..
~ -20 ......... . .. . . ..
- -30 . . . . . ........... .. .......
..
+
~ ... -40 o ... • ... •I
' -50
~
~
-601~ 1~2 1~1 1~ 10 1 1~

~ 0
~ ... -50
+
~ -100
~ ...
~~-15010-3
1~ 1 1~ 1~
Frequency (Hz)
FIGURE 8-10 Closed-loop Bode plot with PI control-mass/springjdashpot
process.