Process Control

• Main Page

• Table of content

• Copyright

• PRENTICE HALL INTERNATIONAL SERIES IN THE PHYSICAL AND CHEMICAL ENGINEERING SCIENCES

• About Prentice Hall Professional Technical Reference

Preface

• Preface

• Background

• Textbook Goals

• Chapters

• Learning Modules

• Textbook Web Page

• Acknowledgments

Chapter 1. Introduction

• Chapter 1. Introduction

• 1.1 Introduction

• 1.2 Instrumentation

• 1.3 Process Models and Dynamic Behavior

• 1.4 Control Textbooks and Journals

• 1.5 A Look Ahead

• 1.6 Summary

• Student Exercises

Chapter 2. Fundamental Models

• Chapter 2. Fundamental Models

• 2.1 Background

• 2.2 Balance Equations

• 2.3 Material Balances

• 2.4 Constitutive Relationships

• 2.5 Material and Energy Balances

• 2.6 Form of Dynamic Models

• 2.7 Linear Models and Deviation Variables

• 2.8 Summary

• Suggested Reading

• Student Exercises

• Appendix 2.1: Solving Algebraic Equations

• Appendix 2.2: Integrating Ordinary Differential Equations

Chapter 3. Dynamic Behavior

• Chapter 3. Dynamic Behavior

• 3.1 Background

• 3.2 Linear State Space Models

• 3.3 Introduction to Laplace Transforms

• 3.4 Transfer Functions

• 3.5 First-Order Behavior

• 3.6 Integrating System

• 3.7 Second-Order Behavior

• 3.8 Lead-Lag Behavior

• 3.9 Poles and Zeros

• 3.10 Processes with Dead Time

• 3.11 Padé Approximation for Dead Time

• 3.12 Converting State Space Models to Transfer Functions

• 3.13 M'ATLAB' and S'IMULINK'

• 3.14 Summary

• References

• Student Exercises

Chapter 4. Empirical Models

• Chapter 4. Empirical Models

• 4.1 Introduction

• 4.2 First-Order + Dead Time

• 4.3 Integrator + Dead Time

• 4.4 Discrete-Time Autoregressive Models

• 4.5 Parameter Estimation

• 4.6 Discrete Step and Impulse Response Models

• 4.7 Summary

• References

• Student Exercises

• Appendix 4.1: Files Used to Generate Example 4.4

• Appendix 4.2

Chapter 5. Introduction to Feedback Control

• Chapter 5. Introduction to Feedback Control

• 5.1 Motivation

• 5.2 Development of Control Block Diagrams

• 5.3 Response to Setpoint Changes

• 5.4 PID Controller Algorithms

• 5.5 Routh Stability Criterion

• 5.6 Effect of Tuning Parameters

• 5.7 Response to Disturbances

• 5.8 Open-Loop Unstable Systems

• 5.9 S'IMULINK' Block Diagrams

• 5.10 Summary

• References

• Student Exercises

Chapter 6. PID Controller Tuning

• Chapter 6. PID Controller Tuning

• 6.1 Introduction

• 6.2 Closed-Loop Oscillation-Based Tuning

• 6.3 Tuning Rules for First-Order + Dead Time Processes

• 6.4 Direct Synthesis

• 6.5 Summary

• References

• Student Exercises

Chapter 7. Frequency-Response Analysis

• Chapter 7. Frequency-Response Analysis

• 7.1 Motivation

• 7.2 Bode and Nyquist Plots

• 7.3 Effect of Process Parameters on Bode and Nyquist Plots

• 7.4 Closed-Loop Stability Concepts

• 7.5 Bode and Nyquist Stability

• 7.6 Robustness

• 7.7 M'ATLAB' Control Toolbox: Bode and Nyquist Functions

• 7.8 Summary

• Reference

• Student Exercises

Chapter 8. Internal Model Control

• Chapter 8. Internal Model Control

• 8.1 Introduction to Model-Based Control

• 8.2 Practical Open-Loop Controller Design

• 8.3 Generalization of the Open-Loop Control Design Procedure

• 8.4 Model Uncertainty and Disturbances

• 8.5 Development of the IMC Structure

• 8.6 IMC Background

• 8.7 The IMC Structure

• 8.8 The IMC Design Procedure

• 8.9 Effect of Model Uncertainty and Disturbances

• 8.10 Improved Disturbance Rejection Design

• 8.11 Manipulated Variable Saturation

• 8.12 Summary

• References

• Student Exercises

• Appendix 8.1: Derivation of Closed-Loop Relationships for IMC

Chapter 9. The IMC-Based PID Procedure

• Chapter 9. The IMC-Based PID Procedure

• 9.1 Background

• 9.2 The Equivalent Feedback Form to IMC

• 9.3 IMC-Based Feedback Design for Delay-Free Processes

• 9.4 IMC-Based Feedback Design for Processes with a Time Delay

• 9.5 Summary of IMC-Based PID Controller Design for Stable Processes

• 9.6 IMC-Based PID Controller Design for Unstable Processes

• 9.7 Summary

• References

• Student Exercises

Chapter 10. Cascade and Feed-Forward Control

• Chapter 10. Cascade and Feed-Forward Control

• 10.1 Background

• 10.2 Introduction to Cascade Control

• 10.3 Cascade-Control Analysis

• 10.4 Cascade-Control Design

• 10.5 Cascade IMC

• 10.6 Feed-Forward Control

• 10.7 Feed-Forward Controller Design

• 10.8 Feed-Forward Control in the IMC Structure

• 10.9 Summary of Feed-Forward Control

• 10.10 Combined Feed-Forward and Cascade

• 10.11 Summary

• References

• Student Exercises—Cascade Control

• Student Exercises—Feed-Forward Control

• Student Exercises—Feed-Forward and Cascade

Chapter 11. PID Enhancements

• Chapter 11. PID Enhancements

• 11.1 Background

• 11.2 Antireset Windup

• 11.3 Autotuning Techniques

• 11.4 Nonlinear PID Control

• 11.5 Controller Parameter (Gain) Scheduling

• 11.6 Measurement/Actuator Selection

• 11.7 Implementing PID Enhancements in Simulink

• 11.8 Summary

• References

• Student Exercises

Chapter 12. Ratio, Selective, and Split-Range Control

• Chapter 12. Ratio, Selective, and Split-Range Control

• 12.1 Motivation

• 12.2 Ratio Control

• 12.3 Selective and Override Control

• 12.4 Split-Range Control

• 12.5 Simulink Functions

• 12.6 Summary

• References

• Student Exercises

Chapter 13. Control-Loop Interaction

• Chapter 13. Control-Loop Interaction

• 13.1 Introduction

• 13.2 Motivation

• 13.3 The General Pairing Problem

• 13.4 The Relative Gain Array

• 13.5 Properties and Application of the RGA

• 13.6 Return to the Motivating Example

• 13.7 RGA and Sensitivity

• 13.8 Using the RGA to Determine Variable Pairings

• 13.9 M'ATLAB' RGA Function File

• 13.10 Summary

• References

• Student Exercises

• Appendix 13.1: Derivation of the Relative Gain for an 'n'-Input–'n'-Output System

• Appendix 13.2: m-File to Calculate the RGA

Chapter 14. Multivariable Control

• Chapter 14. Multivariable Control

• 14.1 Background

• 14.2 Zeros and Performance Limitations

• 14.3 Scaling Considerations

• 14.4 Directional Sensitivity and Operability

• 14.5 Block-Diagram Analysis

• 14.6 Decoupling

• 14.7 IMC

• 14.8 M'ATLAB' 'tzero', 'svd', and LTI Functions

• 14.9 Summary

• References

• Student Exercises

• Appendix 14.1

Chapter 15. Plantwide Control

• Chapter 15. Plantwide Control

• 15.1 Background

• 15.2 Steady-State and Dynamic Effects of Recycle

• 15.3 Unit Operations Not Previously Covered

• 15.4 The Control and Optimization Hierarchy

• 15.5 Further Plantwide Control Examples

• 15.6 Simulations

• 15.7 Summary

• References

• Student Exercises

Chapter 16. Model Predictive Control

• Chapter 16. Model Predictive Control

• 16.1 Motivation

• 16.2 Optimization Problem

• 16.3 Dynamic Matrix Control

• 16.4 Constraints and Multivariable Systems

• 16.5 Other MPC Methods

• 16.6 Matlab

• 16.7 Summary

• References and Relevant Literature

• Student Exercises

• Appendix 16.1: Derivation of the Step Response Formulation

• Appendix 16.2: Derivation of the Least Squares Solution for Control Moves

• Appendix 16.3

Chapter 17. Summary

• Chapter 17. Summary

• 17.1 Overview of Topics Covered in This Textbook

• 17.2 Process Engineering in Practice

• 17.3 Suggested Further Reading

• 17.4 Notation

• Student Exercises

Module 1. Introduction to M'ATLAB'

• Module 1. Introduction to M'ATLAB'

• M1.1 Background

• M1.2 Matrix Operations

• M1.3 The M'ATLAB' Workspace

• M1.4 Complex Variables

• M1.5 Plotting

• M1.6 More Matrix Stuff

• M1.7 For Loops

• M1.8 m-Files

• M1.9 Summary of Commonly Used Commands

• M1.10 Frequently Used M'ATLAB' Functions

• Additional Exercises

Module 2. Introduction to S'IMULINK'

• Module 2. Introduction to S'IMULINK'

• M2.1 Background

• M2.2 Open-Loop Simulations

• M2.3 Feedback-Control Simulations

• M2.4 Developing Alternative Controller Icons

• M2.5 Summary

• Additional Exercises

Module 3. Ordinary Differential Equations

• Module 3. Ordinary Differential Equations

• M3.1 M'ATLAB' ode—Basic

• M3.2 M'ATLAB' ode—Options

• M3.3 S'IMULINK' sfun (.mdl Files)

• M3.4 S'IMULINK' sfun (.mdl Files)—Advanced

• M3.5 Summary

Module 4. M'ATLAB' LTI Models

• Module 4. M'ATLAB' LTI Models

• M4.1 Forming Continuous-Time Models

• M4.2 Forming Discrete-Time Models

• M4.3 Converting Continuous Models to Discrete

• M4.4 Converting Discrete Models to Continuous

• M4.5 Step and Impulse Responses

• M4.6 Summary

• Reference

• Additional Exercises

Module 5. Isothermal Chemical Reactor

• Module 5. Isothermal Chemical Reactor

• M5.1 Background

• M5.2 Model ( Chapter 2 )

• M5.3 Steady-State and Dynamic Behavior ( Chapter 3 )

• M5.5 Internal Model Control ( Chapter 8 )

• Reference

• Additional Exercises

Module 6. First-Order + Time-Delay Processes

• Module 6. First-Order + Time-Delay Processes

• M6.1 Motivation

• M6.2 Closed-Loop Time-Domain Simulation

• M6.3 Bode Analysis

• M6.4 Ziegler-Nichols Tuning

• M6.5 IMC-Based PID Control

• M6.6 Summary

• References

• Additional Exercises

• Appendix M6.1

Module 7. Biochemical Reactors

• Module 7. Biochemical Reactors

• M7.1 Background

• M7.2 Steady-State and Dynamic Behavior

• M7.3 Stable Steady-State Operating Point

• M7.4 Unstable Steady-State Operating Point

• M7.5 S'IMULINK' Model File

• Reference

• Additional Exercises

Module 8. CSTR

• Module 8. CSTR

• M8.1 Background

• M8.2 Simplified Modeling Equations

• M8.3 Example Chemical Process—Propylene Glycol Production

• M8.4 Effect of Reactor Scale

• M8.5 For Further Study: Detailed Model

• M8.6 Other Considerations

• M8.7 Summary

• References

• Additional Exercises

• Appendix M8.1

Module 9. Steam Drum Level

• Module 9. Steam Drum Level

• M9.1 Background

• M9.2 Process Model

• M9 Feedback Controller Design

• M9.4 Feed-Forward Controller Design

• M9.5 Three-Mode Level Control

• Appendix M9.1: S'IMULINK' Diagram for Feed-Forward/Feedback Control of Steam Drum Level

• Appendix M9.2: S'IMULINK' Diagram for 3-Mode Control of Steam Drum Level

Module 10. Surge Vessel Level Control

• Module 10. Surge Vessel Level Control

• M10.1 Background

• M10.2 Process Model

• M10.3 Controller Design

• M10.4 Numerical Example

• M10.5 Summary

• Reference

• Additional Exercises

• Appendix M10.1: The S'IMULINK' Block Diagram

Module 11. Batch Reactor

• Module 11. Batch Reactor

• M11.1 Background

• M11.2 Batch Model 1: Jacket Temperature Manipulated

• M11.3 Batch Model 2: Jacket Inlet Temperature Manipulated

• M11.4 Batch Model 3: Cascade Control

• M11.5 Summary

• Reference

• Additional Exercises

Module 12. Biomedical Systems

• Module 12. Biomedical Systems

• M12.1 Overview

• M12.2 Pharmacokinetic Models

• M12.3 Intravenous Delivery of Anesthetic Drugs

• M12.4 Blood Glucose Control in Diabetic Patients

• M12.5 Blood Pressure Control in Post-Operative Patients

• M12.6 Critical Care Patients

• M12.7 Summary

• References

• Additional Exercises

Module 13. Distillation Control

• Module 13. Distillation Control

• M13.1 Description of Distillation Control

• M13.2 Open-Loop Behavior

• M13.3 SISO Control

• M13.4 RGA Analysis

• M13.5 Multiple SISO Controllers

• M13.6 Singular Value Analysis

• M13.7 Nonlinear Effects

• M13.8 Other Issues in Distillation Column Control

• M13.9 Summary

• References

• Additional Exercises

• Appendix M13.1

Module 14. Case Study Problems

• Module 14. Case Study Problems

• M14.1 Background

• M14.2 Reactive Ion Etcher

• M14.3 Rotary Lime Kiln Temperature Control

• M14.4 Fluidized Catalytic Cracking Unit

• M14.5 Anaerobic Sludge Digester

• M14.6 Drug Infusion System

• M14.7 Suggested Case Study Schedule

• M14.8 Summary

• Additional Exercises

Module 15. Flow Control

• Module 15. Flow Control

• M15.1 Motivating Example

• M15.2 Flowmeters

• M15.3 Control Valves

• M15.4 Pumping and Piping Systems

• M15.5 Summary

• References

• Additional Exercises

Module 16. Digital Control

• Module 16. Digital Control

• M16.1 Background

• M16.2 PID Controllers

• M16.3 Stability Analysis for Digital Control Systems

• M16.4 Performance of Digital Control Systems

• M16.5 Discrete IMC

• M16.6 Summary

• References

• Additional Exercises

• Appendix M16.1: S'IMULINK' .mdl File for Example M16.2

• Appendix M16.2: S'IMULINK' .m and .mdl Files for Example M16.3

About the Author

• About the Author