References

The quadruple tank problem (Example 14.2) is presented in the following paper: Johansson, K. H., "The Quadruple-Tank Process. A Multivariable Laboratory Process with an Adjustable Zero," IEEE Trans. Cont. Syst. Tech., 8(3), 456–465 (2000).

Control performance limitations due to RHP transmission zeros is discussed in the following texts and papers:

Holt, B. R., and M., Morari "Design of Resilient Processing Plants—VI: The Effect of Right-Half-Plane Zeros on Dynamic Resilience," Chem. Eng. Sci., 40(1), 59–74 (1985).

Morari, M., and E. Zafiriou, Robust Process Control, Prentice Hall, Upper Saddle River, NJ (1989).

Skogestad, S., and I. Postlethwaite, Multivariable Feedback Control: Analysis and Design, Wiley, New York (1996).

A more detailed discussion of the operating window approach is presented in the following: Marlin, T. E., Process Control: Designing Processes and Control Systems for Dynamic Performance, 2nd ed., McGraw Hill, New York (2000).

A measure of controllability, based on the operating window approach, is presented in the following paper: Vinson, D. R., and C. Georgakis, "A New Measure of Process Output Controllability," J. Process Control, 10, 185–194 (2000).