Process Control

References
1. Carlos A. Smith and Armando B.Corripio, Principles and
Practice of Automatic Process Control (Second Edition)
2. Thomas E. Marlin, Process Control (Second Edition)
3.
Content
Chapter 1 Introduction

A process Control System

Important Terms and the Objective of Automatic process Control
Regulatory and Servo Control
Transmission Signals, Control Systems, and Other Terms
Control Strategies
Feedback Control
Feedforward Control

Background Needed for Process Control

Summary

Chapter 2 Mathematical Tools for Control system Analysis

The Laplace Transform

Definition of the Laplace Transform
Properties of the Laplace Transform

Solution of Differential Equations Using the Laplace Transform

Laplace Transform Solution Procedure
Inversion by Partial Fractions Expansion
Handling Time Delays

Characterization of Process Response

Deviation Variables
Output Response
Stability

Response of First-Order Systems

Step Response

 Ramp Response
Sinusoidal Response
Response with Time Delay
Response of a Lead-Lag Unit

Response of Second-Order Systems

Overdamped Responses
Underdamped Responses
Higher-Order Responses

Linearization
Linearization of Functions of One Variable
Linearization of Functions of Two or More Variables
Linearization of Differential Equations

Review of Complex-Number Algebra

Complex Numbers
Operations with Complex Numbers

Summary

Chapter 3 First-Order Dynamic Systems

Processes and the Importance of Process Characteristics

Thermal Process Example
Dead Time
Transfer Functions and Block Diagrams
Transfer Functions
Block Diagrams
Gas Process Example
Chemical Reactors
Introductory Remarks
Chemical Reactor Example
Effects of Process Nonlinearities
Additional Comments
Summary

Chapter 4 Higher-Order Dynamic Systems

Noninteracting Systems
Noninteracting Level Process
Thermal Tanks in Series
Interacting Systems
Interacting Level Process

 Thermal Tanks with Recycle

Nonisothermal Chemical Reactor

Response of Higher-order Systems
Other Types of Process Responses
Integrating Processes: Level Process
Open-loop Unstable Process: Chemical Reactor
Inverse Response Processes: Chemical Reactor
Summary
Overview of Chapter 3 and 4

Chapter 5 Basic Components of Control Systems

Sensors and Transmitters

Control Valves
The Control Valve Actuator

Control Valve Capacity and Sizing

Control Valve Characteristics
Control Valve Gain and Transfer Function
Control Valve Summary

Feedback Controllers
Actions of Controllers
Types of Feedback Controllers
Modifications to the PID Controller and Additional Comments
Reset Windup and Its Prevention
Feedback Controller Summary

Summary

Chapter 6 Design of Single-Loop Feedback Control Systems

The Feedback Control Loop

Closed-Loop Transfer Function
Characteristic Equation of the Loop
Steady-State Closed-Loop Gains

Stability of the Control Loop

Criterion of Stability
Direct Substitution Method
Effect of Loop Parameters on the Ultimate Gain and Period
Effect of Dead Time
Rouths Test

Summary

Chapter 7 Tuning of Feedback Controllers

Quarter Decay Ratio Response by Ultimate Gain

Open-Loop Process Characterization
Process Step Testing
Tuning for Quarter Decay Ratio Response
Tuning for Minimum Error Integral Criteria
Tuning Sampled-Data Controllers
Summary of Controller Tuning

Tuning Controllers for Integrating Processes

Model of Liquid Level Control System
Proportional Level Controller
Averaging Level Control
Summary

Synthesis of Feedback Controllers

Development of the Controller Synthesis Formula
Specification of the Closed-Loop Response
Controller Modes and Tuning Parameters
Summary of Controller Synthesis Results
Tuning Rules by Internal Model Control(IMC)

Tips for Feedback Controller Tuning

Estimating the Integral and Derivative Times
Adjusting the Proportional Gain

Summary

Chapter 8 Root Locus

Some Definitions
Analysis of Feedback Control Systems by Root Locus
Rules for Plotting Root Locus Diagrams
Summary

Chapter 9 Frequency Response Techniques

Frequency Response
Experimental Determination of Frequency Response
Bode Plots

Frequency Response Stability Criterion

Polar Plots

Nichols Plots

Pulse Testing

Performing the Pulse Test

Derivation of the Working Equation
Numerical Evaluation of the Fourier Transform Integral

Summary

Chapter 10 Cascade Control

A Process Example
Stability Considerations
Implementation and Tuning of Controllers
Two-Level Cascade Systems

Three-Level Cascade Systems

Other Process Examples

Further Comments

Summary

Chapter 11 Override and Selective Control

Computing Algorithms
Scaling Computing Algorithms
Physical Significance of Signals

Override, or Constraint, Control

Selective Control

Summary

Chapter 12 Ratio and Feedforward Control

Ratio Control
Feedforward Control
The Feedforward Concept
Block Diagram Design of Linear Feedforward Controllers
Lead/Lag Term
Back to the Previous Example
Design of Nonlinear Feedforward Controllers from Basic Process Principles

Some Closing Comments and Outline of Feedforward Controller Design

Three Other Examples
Summary

Chapter 13 Multivariable Process Control

Loop Interaction

Pairing Controlled and Manipulated Vaniables

Calculating the Relative Gains for a 2 2 System
Calculating the Relative Gains for an n n System

Decoupling of Interacting Loops

Decoupler Design from Block Diagrams
Decoupler Design for n n Systems
Decoupler Design from Basic Principles

Multivariable Control vs. Optimization

Dynamic Analysis of Multivariable Systems

Signal Flow Graphs (SFG)
Dynamic Analysis of a 2 2 System
Controller Tuning for Interacting Systems

Summary

Chapter 14 Mathematical Tools for Computer Control

Systems

Computer Process Control

The z-Transform
Definition of the z-Transform
Relationship to the Laplace Transform
Properties of the z-Transform

Calculation of the Inverse z-Transform

Pulse Transfer Functions

Development of the Pulse Transfer Function
Steady-State Gain of a Pulse Transfer Function
Pulse Transfer Functions of Continuous Systems
Transfer Functions of Discrete Blocks
Simulation of Continuous Systems with Discrete Blocks

Sampled-Data Feedback Control Systems

Closed-Loop Transfer Function
Stability of Sampled-Data Control Systems

Modified z-Transform
Definition and Properties of the Modified z-Transform
Inverse of the Modified z-Transform
Transfer Functions for Systems with Transportation Lag

Summary

Chapter 15 Design of Computer Control Systems

Development of Control Algorithms

Exponential Filter
Lead-Lag Algorithm
Feedback (PID) Control Algorithms

Tuning of Feedback Control Algorithms

Development of the Tuning Formulas
Selection of the Sample Time

Feedback Algorithms with Dead-Time Compensation

The Dahlin Algorithm
The Smith Predictor
Algorithm Design by Internal Model Control
Selection of the Adjustable Parameter

Automatic Controller Tuning

Model-Reference Control

Summary