Index = absorption column, 29, 149 accumulation, 19 accuracy, instrument, 215 adaptation, on-line, 429 adaptive control, 427 applications, 427 commercial systems, 430 programmed, 427 self-tuning, 427 adaptive tuning, 429 ADC, see analog to digital converter adjustable gain, 428 advanced control techniques, 412 algebraic equations, numerical solution of, 91 amplitude, 313 normalized, 314, 320 peak. 372 procedure to determine, 318 amplitude ratic 372 analog controllers, 10, 475 analog to digital converter, 195, 512 analog signals, 512 analytical predictor (AP), 638 analyzers. 203. 420, 503 angle of departure, 264 anti-aliasing filter, 534 anticipatory control, 190, 360 anti-windup. 189 AP, see analytical predictor approximation: finite difference, 31, 195, lower-order systems, 171 least squares, 165, 343 linearization, 86 Padé. 141, 281, 329, 583 reaction curve. 169, 302 Taylor series, 277 Tustin’s method, 584 ansforms. 584 argument of complex numbers, see phase angle array Jury, 606 relative gain, 454 Routh, 260 artificial intelligence, 434 ASEA adaptive controller, 430 asymptotes for Bode diagram, 320 asymptotes for root-locus, 264 attenuation, 314 auctioneering control, 424 automatic mode, 4, 192 autoranging, 503, autotuning, 301 averaging level control, 295 backlash (valve), 216 backward difference, 33, 549, 584 bandwidth, 372 bang-bang control. see on-off controller batch process control, $20, 524 524 525 optimal control, 526 batch sequencing unit, 506 batch unit, 190, 526 bias value, 186, 191 black box modeling, 164 blending system(s), 458, 462, 679 block diagrams, 7, 224-228, 398. 415, 421, 445, 532. 543, 590 algebra, 226, 415, 421, 445, 450, 592, 597-599 reduction, 231, 422 use of filters, 543 Bode diagrams, 319 asymptotic procedure, 320 breakpoint, 320, 321 decibel. 321 of electronic controllers, first-order systems, 321 of PID controllers, 358 in process identification, 339 second-order systems, 322 324 stability analysis, 362 third-order system. 326 time delay, 328 Of various systems, 320-324 Bode stability criterion, 362 boilers, 135, 491. 650 adaptive control, 428 feedforward control, 39 inverse response, 328 selective control, 424 split-range control, 425 supervisory control. 491 bounded input, 254 bounds, 186 bracket (on optimum), 482 break frequency. Bristol's relative 454 bumpless transfer, 519 705706 INDEX c calibration, instrument cascade control, 412, 504 block diagram, 4 design, 416 examples, 413, 414 frequency response, 418 loop configuration, 413 master controller, 414 slave controller, 414 smart valve, 504 catalytic reactor, 424. See also chemical reactors auctioneering control, 424 characteristic equation, 52, 131, 262, 601, 605, 690 of digital control loop, 601, 60: eigenvalues of matrix, 690 characteristic polynomial, 51, 266 characteristic roots, 131, See also root-locus characteristic time, 172 chemical composition measurement, 420, 503 chemical reactors, 483 ammonia synthesis, 392 batch, 676 catalytic, 425, 427, 694 CSTR. see continuous stirred-tank reactor (CSTR) fluidized catalytic cracker. 477 heat integration, 675 industrial case study, 695 inferential control, 424, 695 trickle-bed, 142 tubular, see tubular reactor chromatographic analysis, 420, 503 classification of process variables, 681 closed loop, 228, 252 discrete-time, 598 dynamics, 265 frequency response, 372 373, 379 gain, 372, 455 performance criteria, 272 283 poles, 258, 598 prediction, 657 responses, 285, 286, 299 load changes, 193, 299 set-point changes, 193, 299 root locus, 265 stability, 252, 257 system, 228 04 time constant, 258, 275 transfer function, 228, 252, 274, 598 closed-loop system, 224, 598 block diagram, 230, 598 discrete-time, 598 poles, 258 stability. 252 transfer functions, 231, 232, 598 closed-loop transfer functions, 32 with analog controllers, 231 with digital controllers, 598 with Direct Synthesis, 274 load change, 232 set-point change, 231 Cohen and Coon controtler settings, 282 comparison with Ziegler Nichols settings, 303 for digital controllers, 619 combustion, 390, 414, 428 adaptive control, 428 ratio control, 390 comparator, 8. 227 compensation, dynamic, 397 competing dynamic effects, 135 complete decoupling, 463 complex conjugate, 57, 316 complex conjugate roots, 57, 316 complex numbers, $7, 316 complex s plane, 256, 332, 604 complex translation theorem, 561 complex z plane, 604 component balance. unsteady state, 28, 30 composition control. 393, 424 distillation, 393 composition loops. 296, 424, 687 composition sensors, 424, 687 computer, 501 digital, S01, 509 interface, S11 representation of information, 508 software, 515 computer-aided design of feedback controllers, 376, WI computer control. see digital computer control computer hardware, 504, 508, 520, 524 computer simulation, see simulation, computer computer software, 515 conditional stability, 366 condition number, 690 conjugate roots, complex, 57. 316 conservation principle(s). 19 constrained optimization, 488 constraints, hard, 12, 465, 481, 664, 681 constraints on control, 12, 465, 478, 481. 664. 681 feasible region, 492 continuous cycling method. 296, 297 continuous stirred-tank reactor (CSTR), 63, 92 cascade control, 413 dynamics of, 143 feedback control, 412 linearization of, 92 modeling of, 27 nonisotherma recycle, 143 transfer functions. 64 two-stage system, 64 continuous-time signals, discrete-time response, 585 controt: feedback, see feedback control feedforward, see feedforward control control algorithms, digital, see digital control algorithms control configurations, 451 control hardware, 443, control horizon, 654 controlled cycling, 296, 301 controlled variables), 5. 445, 682 selection of, 682 controller: analog. 181 automatic, 192 bias, 186, 191 design, 272, 656 digital, see digital feedback controlter digital PID, 195, 614 direct-acting, 191 frequeney response gain, 184, 618, 662 historical perspective, 184 ideal PID, 191 manual, 4 nonideal PID, 191 on-off, 198 predictive, 649 proportional-derivative (PD), 190, 360 proportional (P), 184, 239 proportional-integral (PI). 188, 359, 448 8proportional-integral- derivative (PID), 185, 191, 194 relay. 301 reverse-acting, 191 saturation, 296, 616 transfer function, 184-191, 230 transient response criteri m ultimate gain, 296 controller design, PID: design correlations, 282 direct synthesis, 273 frequency response, 376 integral error settings, 284 internal model control, 278 controller gain, 184 controller output, 184 controller pairing, 296 controller saturation, 186, 296 controller settings, 273. 298 control loop guidelines, 294 control loop interactions, 443 control loop troubleshooting, 294, 306 control objectives, 3, 10, 475. 695 control requirements, 695 control strategies, 4, 5, 412, 673 control structure, see control configurations control system design, 10) control system instrumentation 199 control systems adaptive, 427 advanced, 412 cascade, 413 design, 10 economic justification, 12 475, expert systems, 435 feedback, see feedback control system feedforward. see feedforward control syst feedforward-feedback, 387 inferential, 423 installation, 10 model-based, 420 multiple-loop, 443 multivariable, 463 ratio, 390 robustness, selective, 424 split-range, 425 variable selection, 682 control of total plant, 10, 680 control valve, 192, 206, 238 control variables, 5, 445 conversion of signals continuous to discrete 549, 58: discrete to continuous-time, 566, 569. 585 conversion of transforms, 583 converters: analog to digital, 195, $12 digital to analog, 195, S13 532, 575 convolution integral convolution model, 649 comer frequency, 320 critical controller gain, see ultimate controller gain critical frequency, 363, 366 ly damped, 115 ly damped response. 115, cross controllers, 463 crossover frequency, 370 CSTR see continuous stirred- tank reactor cycling. continuous, 296 time, i D DAC, see digital-to-analog converter Dahlin’s algorithm, 627 modified version, 628 Dablin’s controller, 277, 627 damping coefficient. 114, 121 cases, 115. 116 effect of step response, 116, 121 damping factor, 114 data acquisition, digital, 502 data fitting, 165, 553 deadbeat control algorithm 626 dead time, see also time delay Bode plots, 328 compensation, 419 distributed parameter system, 31, 153 in a feedback loop, 262 frequency response characteristics, 328 Padé approximation, 141 dead-time compensation, see time-delay compensation decay ratio, 118, 303 ‘one-quarter, 282, 303 decibel, 321 decoupling, 463 alternative configurations, 465 constraints, 465 contral loops. 463 Index 707 design, 465 nonlinear, 467 partial, 467 physical unrealizability, 465 static, 465, 467 degrees of freedom, 21, 488, 677 in control system design, 2 677 effect of feedback control, 678 examples, 22. 678, 679. 685 in supervisory control, 488, delay time, see time delay delta function, see impulse inputs dependent variables, 21, 488 depropanizer, 12 derivative control action, 190) effect on closed-loop response, 190, 379 derivative kick, 191, 617 derivatives approximation of. 31, 195 Laplace transform, 45 derivative time, 190 design of feedback control systems, see also feedback controller designs detuning control loop, 461 design (steady-state), 3 deviation variable, 76, 397 difference equations, 549, $59 differential equations, 23, 24 discretizing, 33 ‘numerical solution, 34, 550 solution by Laplace transforms. 49 differential pressure transducer, 202, 522 digital computer control, 195, SOL batch process control, $24 block diagram, 532 control hardware, 508 costs, 508 data acquisition, 5002 distributed control. 504 general purpose computers 509 interface, S11 programmable logic controllers, 520 sampling, 533 software, 515 table-driven controllers, 518 digital control algorithms, 195, 518, 614 analytical predictor, 637 conversion of continuous controller settings. 618