If you use a Nano-10, FMD or F-series PLCs you can set the PWM output frequency from 50Hz to 50KHz which is the maximum range that it can support.
For Nano-10, you can simply connect the 0-10V analog voltage via a 20K ohm series resistor to convert it into 0-5V analog voltage that the PLC can accept and a very simple program can be written to convert the analog input readings to PWM with varying frequency.