PROCESS SYSTEMS ANALYSIS AND CONTROL
CONTENTS CHAPTER 1 INTRODUCTORY CONCEPTS 1 1 1 WHY PROCESS CONTROL 1 1 2 CONTROL SYSTEMS 1 PART I MODELING FOR PROCESS DYNAMICS 9 CHAPTER 2 MODELING TOOLS FOR PROCESS DYNAMICS 11 2 1 PROCESS DYNAMICS A CHEMICAL MIXING SCENARIO 11 2 2 MATHEMATICAL TOOLS FOR MODELING 18 2 3 SOLUTION OF ORDINARY DIFFERENTIAL EQUATIONS ODES 26 CHAPTER 3 INVERSION BY PARTIAL FRACTIONS 32 3 1 PARTIAL FRACTIONS 32 3 2 QUALITATIVE NATURE OF SOLUTIONS 43 APPENDIX 3A FURTHER PROPERTIES OF TRANSFORMS AND PARTIAL FRACTIONS 49 PART II LINEAR OPEN LOOP SYSTEMS 69 CHAPTER 4 RESPONSE OF FIRST ORDER SYSTEMS 71 4 1 TRANSFER FUNCTION 71 4 2 TRANSIENT RESPONSE 77 4 3 FORCING FUNCTIONS 78 4 4 STEP RESPONSE 79 4 5 IMPULSE RESPONSE 84 4 6 RAMP RESPONSE 87 4 7 SINUSOIDAL RESPONSE 87 CHAPTER 5 PHYSICAL EXAMPLES OF FIRST ORDER SYSTEMS 99 5 1 EXAMPLES OF FIRST ORDER SYSTEMS 99 5 2 LINEARIZATION 109 CHAPTER 6 RESPONSE OF FIRST ORDER SYSTEMS IN SERIES 123 6 1 INTRODUCTORY REMARKS 123 6 2 NONINTERACTING SYSTEM 123 6 3 INTERACTING SYSTEM 128 CHAPTER 7 HIGHER ORDER SYSTEMS SECOND ORDER AND TRANSPORTATION LAG 137 7 1 SECOND ORDER SYSTEM 137 7 2 TRANSPORTATION LAG 153 PART III LINEAR CLOSED LOOP SYSTEMS 163 CHAPTER 8 THE CONTROL SYSTEM 165 8 1 INTRODUCTION 165 8 2 COMPONENTS OF A CONTROL SYSTEM 165 8 3 BLOCK DIAGRAM 166 8 4 DEVELOPMENT OF BLOCK DIAGRAM 168 CHAPTER 9 CONTROLLERS AND FINAL CONTROL ELEMENTS 186 9 1 MECHANISMS 187 9 2 IDEAL TRANSFER FUNCTIONS 190 APPENDIX 9A PIPING AND INSTRUMENTATION DIAGRAM SYMBOLS 203 CHAPTER 10 BLOCK DIAGRAM OF A CHEMICAL REACTOR CONTROL SYSTEM 205 10 1 DESCRIPTION OF SYSTEM 206 10 2 REACTOR TRANSFER FUNCTIONS 206 10 3 CONTROL VALVE 209 10 4 MEASURING ELEMENT 210 10 5 CONTROLLER 211 10 6 CONTROLLER TRANSDUCER 212 10 7 TRANSPORTATION LAG 212 10 8 BLOCK DIAGRAM 212 CHAPTER 11 CLOSED LOOP TRANSFER FUNCTIONS 218 11 1 STANDARD BLOCK DIAGRAM SYMBOLS 218 11 2 OVERALL TRANSFER FUNCTION FOR SINGLE LOOP SYSTEMS 219 11 3 OVERALL TRANSFER FUNCTION FOR MULTILOOP CONTROL SYSTEMS 224 CHAPTER 12 TRANSIENT RESPONSE OF SIMPLE CONTROL SYSTEMS 228 12 1 PROPORTIONAL CONTROL FOR SET POINT CHANGE SERVO PROBLEM SET POINT TRACKING 229 12 2 PROPORTIONAL CONTROL FOR LOAD CHANGE REGULATOR PROBLEM DISTURBANCE REJECTION 234 12 3 PROPORTIONAL INTEGRAL CONTROL FOR LOAD CHANGE 236 12 4 PROPORTIONAL INTEGRAL CONTROL FOR SET POINT CHANGE 241 12 5 PROPORTIONAL CONTROL OF SYSTEM WITH MEASUREMENT LAG 243 CHAPTER 13 STABILITY 252 13 1 CONCEPT OF STABILITY 252 13 2 DE NITION OF STABILITY LINEAR SYSTEMS 254 13 3 STABILITY CRITERION 254 13 4 ROUTH TEST FOR STABILITY 258 CHAPTER 14 ROOT LOCUS 269 14 1 CONCEPT OF ROOT LOCUS 269 PART IV FREQUENCY RESPONSE 285 CHAPTER 15 INTRODUCTION TO FREQUENCY RESPONSE 287 15 1 SUBSTITUTION RULE 287 15 2 BODE DIAGRAMS 300 15 3 APPENDIX GENERALIZATION OF SUBSTITUTION RULE 316 CHAPTER 16 CONTROL SYSTEM DESIGN BY FREQUENCY RESPONSE 323 16 1 TANK TEMPERATURE CONTROL SYSTEM 323 16 2 THE BODE STABILITY CRITERION 326 16 3 GAIN AND PHASE MARGINS 327 16 4 ZIEGLER NICHOLS CONTROLLER SETTINGS 335 PART V PROCESS APPLICATIONS 351 CHAPTER 17 ADVANCED CONTROL STRATEGIES 353 17 1 CASCADE CONTROL 353 17 2 FEEDFORWARD CONTROL 361 17 3 RATIO CONTROL 370 17 4 DEAD TIME COMPENSATION SMITH PREDICTOR 373 17 5 INTERNAL MODEL CONTROL 378 CHAPTER 18 CONTROLLER TUNING AND PROCESS IDENTI CATION 391 18 1 CONTROLLER TUNING 391 18 2 TUNING RULES 394 18 3 PROCESS IDENTI CATION 410 CHAPTER 19 CONTROL VALVES 423 19 1 CONTROL VALVE CONSTRUCTION 423 19 2 VALVE SIZING 425 19 3 VALVE CHARACTERISTICS 427 19 4 VALVE POSITIONER 438 CHAPTER 20 THEORETICAL ANALYSIS OF COMPLEX PROCESSES 443 20 1 CONTROL OF A STEAM JACKETED KETTLE 443 20 2 DYNAMIC RESPONSE OF A GAS ABSORBER 453 20 3 DISTRIBUTED PARAMETER SYSTEMS 458 PART VI STATE SPACE METHODS 475 CHAPTER 21 STATE SPACE REPRESENTATION OF PHYSICAL SYSTEMS 477 21 1 INTRODUCTION 477 21 2 STATE VARIABLES 477 APPENDIX 21A ELEMENTARY MATRIX ALGEBRA 490 CHAPTER 22 TRANSFER FUNCTION MATRIX 498 22 1 TRANSITION MATRIX 499 22 2 TRANSFER FUNCTION MATRIX 502 CHAPTER 23 MULTIVARIABLE CONTROL 512 23 1 CONTROL OF INTERACTING SYSTEMS 514 23 2 STABILITY OF MULTIVARIABLE SYSTEMS 525 PART VII NONLINEAR CONTROL 531 CHAPTER 24 EXAMPLES OF NONLINEAR SYSTEMS 533 24 1 DE NITION OF A NONLINEAR SYSTEM 533 24 2 THE PHASE PLANE 534 24 3 PHASE PLANE ANALYSIS OF DAMPED OSCILLATOR 535 24 4 MOTION OF A PENDULUM 543 24 5 A CHEMICAL REACTOR 547 CHAPTER 25 EXAMPLES OF PHASE PLANE ANALYSIS 553 25 1 PHASE SPACE 553 25 2 EXAMPLES OF PHASE PLANE ANALYSIS 561 PART VIII COMPUTERS IN PROCESS CONTROL 579 CHAPTER 26 MICROPROCESSOR BASED CONTROLLERS AND DISTRIBUTED CONTROL 581 26 1 HISTORICAL BACKGROUND 581 26 2 HARDWARE COMPONENTS 582 26 3 TASKS OF A MICROPROCESSOR BASED CONTROLLER 583 26 4 SPECIAL FEATURES OF MICROPROCESSOR BASED CONTROLLERS 588 26 5 DISTRIBUTED CONTROL 592