Part Ⅰ The Control of a Chemical Process：Its Characteristics and Associated Problems 1
1.Incentives for Chemical Process Control 2
1.1 Suppress the Influence of External Disturbances 4
1.2 Ensure the Stability of a Process 7
1.3 Optimize the Performance of a Chemical Process 10
2.Design Aspects of a Process Control System 12
2.1 Classification of the Variables in a Chemical Process 12
2.2 Design Elements of a Control System 14
2.3 Control Aspects of a Complete Chemical Plant 25
3.Hardware for a Process Control System 28
3.1 Hardware Elements of a Control System 28
3.2 Use of Digital Computers in Process Control 30
Concluding Remarks on Part Ⅰ 33
Things to Think About for Part Ⅰ 33
References for Part Ⅰ 35
Problems for Part Ⅰ 36
Part Ⅱ Modeling the Dynamic and Static Behavior of Chemical Processes 43
4.Development of a Mathematical Model 45
4.1 Why Do We Need Mathematical Modeling for Process Control？ 46
4.2 State Variables and State Equations for a Chemical Process 48
4.3 Additional Elements of the Mathematical Models 55
4.4 Dead Time 58
4.5 Additional Examples of Mathematical Modeling 59
4.6 Modeling Difficulties 74
Things to Think About 78
5.Modeling Considerations for Control Purposes 80
5.1 The Input-Output Model 81
5.2 Degrees of Freedom 86
5.3 Degrees of Freedom and Process Controllers 89
5.4 Formulating the Scope of Modeling for Frocess Control 93
Things to Think About 97
References for Part Ⅱ 98
Problems for Part Ⅱ 100
Part Ⅲ Analysis of the Dynamic Behavior of Chemical Processes 111
6.Computer Simulation and the Linearization of Nonlinear Systems 113
6.1 Computer Simulation of Process Dynamics 114
6.2 Linearization of Systems with One Variable 116
6.3 Deviation Variables 119
6.4 Linearization of Systems with Many Variables 121
Things to Think About 126
7.Laplace Transforms 128
7.1 Definition of the Laplace Transform 128
7.2 Laplace Transforms of Some Basic Functions 130
7.3 Laplace Transforms of Derivatives 139
7.4 Laplace Transforms of Integrals 139
7.5 Final-V？lue Theorem 140
7.6 Initial-Value Theorem 141
Things to Think About 141
8.Solution of Linear Differential Equations Using Laplace Transforms 143
8.1 A Characteristic Example and the Solution Procedure 143
8.2 Inversion of Laplace Transforms.Heaviside Expansion 145
8.3 Examples on the Solution of Linear Differential Equations Using Laplace Transforms 152
Things to Think About 157
9.Transfer Functions and the Input-Output Models 159
9.1 Transfer Function of a Process with a Single Output 159
9.2 Transfer Function Matrix of a Process with Multiple Outputs 163
9.3 Poles and Zeros of a Transfer Function 167
9.4 Qualitative Analysis of the Response of a System 168
Things to Think About 172
10.Dynamic Behavior of First-Order Systems 173
10.1 What Is a First-Order System？ 173
10.2 Processes Modeled as First-Order Systems 174
10.3 Dynamic Response of a Pure Capacitive Process 178
10.4 Dynamic Response of a First-Order Lag System 179
10.5 First-Order Systems with Variable Time Constant and Gain 183
Things to Think About 184
11.Dynamic Behavior of Second-Order Systems 186
11.1 What Is a Second-Order System？ 186
11.2 Dynamic Response of a Second-Order System 187
11.3 Multicapacity Processes as Second-Order Systems 193
11.4 Inherently Second-Order Processes 201
11.5 Second-Order Systems Caused by the Presence of Controllers 201
Things to Think About 204
Appendix 11A Examples of Physical Systems with Inherent Second-Order Dynamics 205
12.Dynamic Behavior of Higher-Order Systems 212
12.1 N Capacities in Series 212
12.2 Dynamic Systems with Dead Time 214
12.3 Dynamic Systems with Inverse Response 216
Things to Think About 220
References for Part Ⅲ 220
Problems for Part Ⅲ 223
Part Ⅳ Analysis and Design of Feedback Control Systems 239
13.Introduction to Feedback Control 241
13.1 Concept of Feedback Control 241
13.2 Types of Feedback Controllers 245
13.3 Measuring Devices（Sensors） 248
13.4 Transmission Lines 253
13.5 Final Control Elements 253
Things to Think About 256
14.Dynamic Behavior of Feedback-Controlled Processes 258
14.1 Block Diagram and the Closed-Loop Response 258
14.2 Effect of Proportional Control on the Response of a Controlled Process 265
14.3 Effect of Integral Control Action 273
14.4 Effect of Derivative Control Action 276
14.5 Effect of Composite Control Actions 277
Things to Think About 279
15.Stability Analysis of Feedback Systems 281
15.1 Notion of Stability 281
15.2 The Characteristic Equation 285
15.3 Routh-Hurwitz Criterion for Stability 287
15.4 Root-Locus Analysis 290
Things to Think About 295
16.Design of Feedback Controllers 297
16.1 Outline of the Design Problems 297
16.2 Simple Performance Criteria 299
16.3 Time-Integral Performance Criteria 302
16.4 Select the Type of Feedback Controller 306
16.5 Controller Tuning 310
Things to Think About 316
17.Frequency Response Analysis of Linear Processes 317
17.1 Response of a First-Order System to a Sinusoidal Input 317
17.2 Frequency Response Characteristics of a General Linear System 321
17.3 Bode Diagrams 326
17.4 Nyquist Plots 338
Things to Think About 341
18.Design of Feedback Control Systems Using Frequency Response Techniques 344
18.1 Bode Stability Criterion 344
18.2 Gain and Phase Margins 349
18.3 Ziegler-Nichols Tuning Technique 352
18.4 Nyquist Stability Criterion 355
Things to Think About 358
References for Part Ⅳ 360
Problems for Part Ⅳ 363
Part Ⅴ Analysis and Design of Advanced Control Systems 381
19.Feedback Control of Systems with Large Dead Time or Inverse Response 383
19.1 Processes with Large Dead Time 383
19.2 Dead Time Compensation 385
19.3 Control of Systems with Inverse Response 390
Things to Think About 393
20.Control Systems with Multiple Loops 394
20.1 Cascade Control 395
20.2 Selective Control Systems 402
20.3 Split-Range Control 407
Things to Think About 409
21.Feedforward and Ratio Control 411
21.1 Logic of Feedforward Control 411
21.2 Problem of Designing Feedforward Controllers 414
21.3 Practical Aspects on the Design of Feedforward Controllers 420
21.4 Feedforward-Feedback Control 423
21.5 Ratio Control 427
Things to Think About 429
22.Adaptive and Inferential Control Systems 431
22.1 Adaptive Control 431
22.2 Inferential Control 438
Things to Think About 443
References for Part Ⅴ 444
Problems for Part Ⅴ 447
Part Ⅵ Design of Control Systems for Multivariable Processes：Introduction to Plant Control 459
23.Synthesis of Alternative Control Configurations for Multiple-Input，Multiple-Output Processes 461
23.1 Design Questions for MIMO Control Systems 461
23.2 Degrees of Freedom and the Number of Controlled and Manipulated Variables 462
23.3 Generation ofAlternative Loop Configurations 467
23.4 Extensions to Systems with Interacting Units 469
Things to Think About 484
24.Interaction and Decoupling of Control Loops 486
24.1 Interaction of Control Loops 487
24.2 Relative-Gain Array and the Selection of Loops 494
24.3 Design of Noninteracting Control Loops 504
Things to Think About 508
25.Design of Control Systems for Complete Plants 510
25.1 Process Design and Process Control 510
25.2 Hydrodealkylation of Toluene Plant to Produce Benzene：A Case Study 516
25.3 Material Balance Control for the Hydrodealkylation Plant 519
25.4 Product Quality Control for the Hydrodealkylation Plant 524
25.5 Some Comments on the Control Design for Complete Plants 529
Things to Think About 534
References for Part Ⅵ 537
Problems for Part Ⅵ 540
Part Ⅶ Process Control Using Digital Computers 549
26.Digital Computer Control Loops 551
26.1 The Digital Computer 552
26.2 Computer-Process Interface for Data Acquisition and Control 557
26.3 Computer Control Loops 561
26.4 New Control Design Problems 566
Things to Think About 568
27.From Continuous to Discrete-Time Systems 570
27.1 Sampling Continuous Signals 571
27.2 Reconstruction of Continuous Signals from Their Discrete-Time Values 576
27.3 Conversion of Continuous to Discrete-Time Models 581
Things to Think About 587
28.z-Transforms 589
28.1 Definition of z-Transforms 589
28.2 z-Transforms of Some Basic Functions 591
28.3 Properties of z-Transforms 595
28.4 Inversion of z-Transforms 599
Things to Think About 604
Appendix 28A：The Modified z-Transform 606
29.Discrete-Time Response of Dynamic Systems 608
29.1 Response of Discrete Dynamic Systems 609
29.2 Discrete-Time Analysis of Continuous Systems.The Pulse Transfer Function 613
29.3 Discrete-Time Analysis of Closed-Loop Systems 621
29.4 Stability Analysis of Discrete-Time Systems 626
Things to Think About 631
30.Design of Digital Feedback Controllers 634
30.1 Digital Approximation of Classical Controllers 635
30.2 Effect of Sampling 638
30.3 A Different Class of Digital Controllers 640
30.4 “Ringing” and the Placement of Poles 647
30.5 Design of Optimal Regulatory Control Systems 650
Things to Think About 654
31.Process Identification and Adaptive Control 656
31.1 Process Identification 657
31.2 Process Identification and Adaptive Control 662
Things to Think About 667
References for Part Ⅶ 670
Problems for Part Ⅶ 674
Index 685