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•	Table of Contents

Process Control: Modeling, Design, and Simulation
By B. Wayne Bequette
Publisher	: Prentice Hall PTR
Pub Date	: December 26, 2002
ISBN	: 0-13-353640-8
Pages	: 769

		Copyright
		PRENTICE HALL INTERNATIONAL SERIES IN THE PHYSICAL AND CHEMICAL ENGINEERING SCIENCES
		About Prentice Hall Professional Technical Reference
		Preface
			Background
			Textbook Goals
			Chapters
			Learning Modules
			Textbook Web Page
			Acknowledgments
		Chapter 1.  Introduction
			Section 1.1.  Introduction
			Section 1.2.  Instrumentation
			Section 1.3.  Process Models and Dynamic Behavior
			Section 1.4.  Control Textbooks and Journals
			Section 1.5.  A Look Ahead
			Section 1.6.  Summary
			Student Exercises
		Chapter 2.  Fundamental Models
			Section 2.1.  Background
			Section 2.2.  Balance Equations
			Section 2.3.  Material Balances
			Section 2.4.  Constitutive Relationships
			Section 2.5.  Material and Energy Balances
			Section 2.6.  Form of Dynamic Models
			Section 2.7.  Linear Models and Deviation Variables
			Section 2.8.  Summary
			Suggested Reading
			Student Exercises
			Appendix 2.1: Solving Algebraic Equations
			Appendix 2.2: Integrating Ordinary Differential Equations
		Chapter 3.  Dynamic Behavior
			Section 3.1.  Background
			Section 3.2.  Linear State Space Models
			Section 3.3.  Introduction to Laplace Transforms
			Section 3.4.  Transfer Functions
			Section 3.5.  First-Order Behavior
			Section 3.6.  Integrating System
			Section 3.7.  Second-Order Behavior
			Section 3.8.  Lead-Lag Behavior
			Section 3.9.  Poles and Zeros
			Section 3.10.  Processes with Dead Time
			Section 3.11.  Padé Approximation for Dead Time
			Section 3.12.  Converting State Space Models to Transfer Functions
			Section 3.13.  MATLAB and SIMULINK
			Section 3.14.  Summary
			References
			Student Exercises
		Chapter 4.  Empirical Models
			Section 4.1.  Introduction
			Section 4.2.  First-Order + Dead Time
			Section 4.3.  Integrator + Dead Time
			Section 4.4.  Discrete-Time Autoregressive Models
			Section 4.5.  Parameter Estimation
			Section 4.6.  Discrete Step and Impulse Response Models
			Section 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
			Section 5.1.  Motivation
			Section 5.2.  Development of Control Block Diagrams
			Section 5.3.  Response to Setpoint Changes
			Section 5.4.  PID Controller Algorithms
			Section 5.5.  Routh Stability Criterion
			Section 5.6.  Effect of Tuning Parameters
			Section 5.7.  Response to Disturbances
			Section 5.8.  Open-Loop Unstable Systems
			Section 5.9.  SIMULINK Block Diagrams
			Section 5.10.  Summary
			References
			Student Exercises
		Chapter 6.  PID Controller Tuning
			Section 6.1.  Introduction
			Section 6.2.  Closed-Loop Oscillation-Based Tuning
			Section 6.3.  Tuning Rules for First-Order + Dead Time Processes
			Section 6.4.  Direct Synthesis
			Section 6.5.  Summary
			References
			Student Exercises
		Chapter 7.  Frequency-Response Analysis
			Section 7.1.  Motivation
			Section 7.2.  Bode and Nyquist Plots
			Section 7.3.  Effect of Process Parameters on Bode and Nyquist Plots
			Section 7.4.  Closed-Loop Stability Concepts
			Section 7.5.  Bode and Nyquist Stability
			Section 7.6.  Robustness
			Section 7.7.  MATLAB Control Toolbox: Bode and Nyquist Functions
			Section 7.8.  Summary
			Reference
			Student Exercises
		Chapter 8.  Internal Model Control
			Section 8.1.  Introduction to Model-Based Control
			Section 8.2.  Practical Open-Loop Controller Design
			Section 8.3.  Generalization of the Open-Loop Control Design Procedure
			Section 8.4.  Model Uncertainty and Disturbances
			Section 8.5.  Development of the IMC Structure
			Section 8.6.  IMC Background
			Section 8.7.  The IMC Structure
			Section 8.8.  The IMC Design Procedure
			Section 8.9.  Effect of Model Uncertainty and Disturbances
			Section 8.10.  Improved Disturbance Rejection Design
			Section 8.11.  Manipulated Variable Saturation
			Section 8.12.  Summary
			References
			Student Exercises
			Appendix 8.1: Derivation of Closed-Loop Relationships for IMC
		Chapter 9.  The IMC-Based PID Procedure
			Section 9.1.  Background
			Section 9.2.  The Equivalent Feedback Form to IMC
			Section 9.3.  IMC-Based Feedback Design for Delay-Free Processes
			Section 9.4.  IMC-Based Feedback Design for Processes with a Time Delay
			Section 9.5.  Summary of IMC-Based PID Controller Design for Stable Processes
			Section 9.6.  IMC-Based PID Controller Design for Unstable Processes
			Section 9.7.  Summary
			References
			Student Exercises
		Chapter 10.  Cascade and Feed-Forward Control
			Section 10.1.  Background
			Section 10.2.  Introduction to Cascade Control
			Section 10.3.  Cascade-Control Analysis
			Section 10.4.  Cascade-Control Design
			Section 10.5.  Cascade IMC
			Section 10.6.  Feed-Forward Control
			Section 10.7.  Feed-Forward Controller Design
			Section 10.8.  Feed-Forward Control in the IMC Structure
			Section 10.9.  Summary of Feed-Forward Control
			Section 10.10.  Combined Feed-Forward and Cascade
			Section 10.11.  Summary
			References
			Student Exercises—Cascade Control
			Student Exercises—Feed-Forward Control
			Student Exercises—Feed-Forward and Cascade
		Chapter 11.  PID Enhancements
			Section 11.1.  Background
			Section 11.2.  Antireset Windup
			Section 11.3.  Autotuning Techniques
			Section 11.4.  Nonlinear PID Control
			Section 11.5.  Controller Parameter (Gain) Scheduling
			Section 11.6.  Measurement/Actuator Selection
			Section 11.7.  Implementing PID Enhancements in Simulink
			Section 11.8.  Summary
			References
			Student Exercises
		Chapter 12.  Ratio, Selective, and Split-Range Control
			Section 12.1.  Motivation
			Section 12.2.  Ratio Control
			Section 12.3.  Selective and Override Control
			Section 12.4.  Split-Range Control
			Section 12.5.  Simulink Functions
			Section 12.6.  Summary
			References
			Student Exercises
		Chapter 13.  Control-Loop Interaction
			Section 13.1.  Introduction
			Section 13.2.  Motivation
			Section 13.3.  The General Pairing Problem
			Section 13.4.  The Relative Gain Array
			Section 13.5.  Properties and Application of the RGA
			Section 13.6.  Return to the Motivating Example
			Section 13.7.  RGA and Sensitivity
			Section 13.8.  Using the RGA to Determine Variable Pairings
			Section 13.9.  MATLAB RGA Function File
			Section 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
			Section 14.1.  Background
			Section 14.2.  Zeros and Performance Limitations
			Section 14.3.  Scaling Considerations
			Section 14.4.  Directional Sensitivity and Operability
			Section 14.5.  Block-Diagram Analysis
			Section 14.6.  Decoupling
			Section 14.7.  IMC
			Section 14.8.  MATLAB tzero, svd, and LTI Functions
			Section 14.9.  Summary
			References
			Student Exercises
			Appendix 14.1
		Chapter 15.  Plantwide Control
			Section 15.1.  Background
			Section 15.2.  Steady-State and Dynamic Effects of Recycle
			Section 15.3.  Unit Operations Not Previously Covered
			Section 15.4.  The Control and Optimization Hierarchy
			Section 15.5.  Further Plantwide Control Examples
			Section 15.6.  Simulations
			Section 15.7.  Summary
			References
			Student Exercises
		Chapter 16.  Model Predictive Control
			Section 16.1.  Motivation
			Section 16.2.  Optimization Problem
			Section 16.3.  Dynamic Matrix Control
			Section 16.4.  Constraints and Multivariable Systems
			Section 16.5.  Other MPC Methods
			Section 16.6.  Matlab
			Section 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
			Section 17.1.  Overview of Topics Covered in This Textbook
			Section 17.2.  Process Engineering in Practice
			Section 17.3.  Suggested Further Reading
			Section 17.4.  Notation
			Student Exercises
		Module 1.  Introduction to MATLAB
			Section M1.1.  Background
			Section M1.2.  Matrix Operations
			Section M1.3.  The MATLAB Workspace
			Section M1.4.  Complex Variables
			Section M1.5.  Plotting
			Section M1.6.  More Matrix Stuff
			Section M1.7.  For Loops
			Section M1.8.  m-Files
			Section M1.9.  Summary of Commonly Used Commands
			Section M1.10.  Frequently Used MATLAB Functions
			Additional Exercises
		Module 2.  Introduction to SIMULINK
			Section M2.1.  Background
			Section M2.2.  Open-Loop Simulations
			Section M2.3.  Feedback-Control Simulations
			Section M2.4.  Developing Alternative Controller Icons
			Section M2.5.  Summary
			Additional Exercises
		Module 3.  Ordinary Differential Equations
			Section M3.1.  MATLAB ode—Basic
			Section M3.2.  MATLAB ode—Options
			Section M3.3.  SIMULINK sfun (.mdl Files)
			Section M3.4.  SIMULINK sfun (.mdl Files)—Advanced
			Section M3.5.  Summary
		Module 4.  MATLAB LTI Models
			Section M4.1.  Forming Continuous-Time Models
			Section M4.2.  Forming Discrete-Time Models
			Section M4.3.  Converting Continuous Models to Discrete
			Section M4.4.  Converting Discrete Models to Continuous
			Section M4.5.  Step and Impulse Responses
			Section M4.6.  Summary
			Reference
			Additional Exercises
		Module 5.  Isothermal Chemical Reactor
			Section M5.1.  Background
			Section M5.2.  Model (Chapter 2)
			Section M5.3.  Steady-State and Dynamic Behavior (Chapter 3)
			Section M5.4.  Classical Feedback Control (Chapters 5 and 6)
			Section M5.5.  Internal Model Control (Chapter 8)
			Reference
			Additional Exercises
		Module 6.  First-Order + Time-Delay Processes
			Section M6.1.  Motivation
			Section M6.2.  Closed-Loop Time-Domain Simulation
			Section M6.3.  Bode Analysis
			Section M6.4.  Ziegler-Nichols Tuning
			Section M6.5.  IMC-Based PID Control
			Section M6.6.  Summary
			References
			Additional Exercises
			Appendix M6.1
		Module 7.  Biochemical Reactors
			Section M7.1.  Background
			Section M7.2.  Steady-State and Dynamic Behavior
			Section M7.3.  Stable Steady-State Operating Point
			Section M7.4.  Unstable Steady-State Operating Point
			Section M7.5.  SIMULINK Model File
			Reference
			Additional Exercises
		Module 8.  CSTR
			Section M8.1.  Background
			Section M8.2.  Simplified Modeling Equations
			Section M8.3.  Example Chemical Process—Propylene Glycol Production
			Section M8.4.  Effect of Reactor Scale
			Section M8.5.  For Further Study: Detailed Model
			Section M8.6.  Other Considerations
			Section M8.7.  Summary
			References
			Additional Exercises
			Appendix M8.1
		Module 9.  Steam Drum Level
			Section M9.1.  Background
			Section M9.2.  Process Model
			Section M9.  Feedback Controller Design
			Section M9.4.  Feed-Forward Controller Design
			Section M9.5.  Three-Mode Level Control
			Appendix M9.1: SIMULINK Diagram for Feed-Forward/Feedback Control of Steam Drum Level
			Appendix M9.2: SIMULINK Diagram for 3-Mode Control of Steam Drum Level
		Module 10.  Surge Vessel Level Control
			Section M10.1.  Background
			Section M10.2.  Process Model
			Section M10.3.  Controller Design
			Section M10.4.  Numerical Example
			Section M10.5.  Summary
			Reference
			Additional Exercises
			Appendix M10.1: The SIMULINK Block Diagram
		Module 11.  Batch Reactor
			Section M11.1.  Background
			Section M11.2.  Batch Model 1: Jacket Temperature Manipulated
			Section M11.3.  Batch Model 2: Jacket Inlet Temperature Manipulated
			Section M11.4.  Batch Model 3: Cascade Control
			Section M11.5.  Summary
			Reference
			Additional Exercises
		Module 12.  Biomedical Systems
			Section M12.1.  Overview
			Section M12.2.  Pharmacokinetic Models
			Section M12.3.  Intravenous Delivery of Anesthetic Drugs
			Section M12.4.  Blood Glucose Control in Diabetic Patients
			Section M12.5.  Blood Pressure Control in Post-Operative Patients
			Section M12.6.  Critical Care Patients
			Section M12.7.  Summary
			References
			Additional Exercises
		Module 13.  Distillation Control
			Section M13.1.  Description of Distillation Control
			Section M13.2.  Open-Loop Behavior
			Section M13.3.  SISO Control
			Section M13.4.  RGA Analysis
			Section M13.5.  Multiple SISO Controllers
			Section M13.6.  Singular Value Analysis
			Section M13.7.  Nonlinear Effects
			Section M13.8.  Other Issues in Distillation Column Control
			Section M13.9.  Summary
			References
			Additional Exercises
			Appendix M13.1
		Module 14.  Case Study Problems
			Section M14.1.  Background
			Section M14.2.  Reactive Ion Etcher
			Section M14.3.  Rotary Lime Kiln Temperature Control
			Section M14.4.  Fluidized Catalytic Cracking Unit
			Section M14.5.  Anaerobic Sludge Digester
			Section M14.6.  Drug Infusion System
			Section M14.7.  Suggested Case Study Schedule
			Section M14.8.  Summary
			Additional Exercises
		Module 15.  Flow Control
			Section M15.1.  Motivating Example
			Section M15.2.  Flowmeters
			Section M15.3.  Control Valves
			Section M15.4.  Pumping and Piping Systems
			Section M15.5.  Summary
			References
			Additional Exercises
		Module 16.  Digital Control
			Section M16.1.  Background
			Section M16.2.  PID Controllers
			Section M16.3.  Stability Analysis for Digital Control Systems
			Section M16.4.  Performance of Digital Control Systems
			Section M16.5.  Discrete IMC
			Section M16.6.  Summary
			References
			Additional Exercises
			Appendix M16.1: SIMULINK .mdl File for Example M16.2
			Appendix M16.2: SIMULINK .m and .mdl Files for Example M16.3
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