Basic and Advanced Regulatory Control: System Design and Application Book

	Preface	xiii
Chapter 1	Introduction	1
	Symbols	2
Chapter 2	Mathematical Background, Diagrams, and Terminology	5
	Mathematical Foundation	6
	Diagrams and Terminology	17
	Direct- or Reverse-acting?	24
	References	25
Chapter 3	Process and Control Loop Characteristics	27
	Steady-state Characteristics	28
	Dynamic Characteristics	35
	Control Loop Characteristics	48
	Summary	54
	References	55
Chapter 4	Pid Control	57
	Feedback Control	57
	Summary	76
	References	77
Chapter 5	Modifications to Standard Pid Control	79
	Set Point "Softening"	80
	Integral-only Mode	85
	Interactive or Noninteractive Controller	86
	Independent Gains	89
	Internal Filter	90
	Nonlinearization	92
	Set Point Tracking and Bumpless Transfer	94
	"Bumpless" Tuning	96
	Preventing Reset Windup	97
	Discrete Control Algorithms	102
	Incorporating Engineering Units in Controller Gain	107
	Commercial Examples of Modifications	109
	Process Control Using Foundation Fieldbus	112
	References	118
Chapter 6	Tuning Feedback Control Loops	119
	Performance Criteria	120
	Tuning for Self-regulating Processes	123
	Tuning Liquid-level Control Loops	149
	Other Tuning Situations: Runaway Processes	169
	Typical Tuning Values for Particular Types of Loops	170
	Practical Considerations for Loop Tuning	170
	References	172
Chapter 7	Self-Tuning	173
	Scheduled Tuning	174
	On-demand Tuning	174
	Adaptive Tuning	177
	Tuning Aids	179
	References	181
Chapter 8	Advanced Regulatory Control	183
Chapter 9	Cascade Control	187
	Cascade Control Technology	187
	Identifying Candidate Applications	191
	Implementation, Operation, and Tuning	194
	Cascade Control Using Foundation Fieldbus	198
	References	198
Chapter 10	Ratio Control	201
	Ratio Control Technology	201
	Automatic Ratio Adjustment	203
	Scaling the Ratio Control Components	207
	Ratio Control Using Foundation Fieldbus Function Blocks	208
	References	209
Chapter 11	Feedforward Control	213
	Designing Feedforward Control Systems	216
	Dynamic Compensation	226
	Further Considerations of the Feedback Controller	237
	Feedforward: In Perspective	238
	Feedforward Control Using Foundation Fieldbus	241
	References	242
Chapter 12	Override (Selector) Control	245
	Override Control	245
	Other Methods of Implementation	256
	Override Control Using Foundation Fieldbus	263
	References	265
Chapter 13	Control for Interacting Process Loops	267
	Variable Pairing	268
	Decoupling	276
	Decoupling Application Examples	286
	References	290
Chapter 14	Dead-Time Compensation and Model-Based Control	291
	Smith Predictor Control	292
	Dahlin's Algorithm	299
	An Overview of Z-Transform Theory	300
	Internal Model Control	305
	References	310
Chapter 15	Multivariable Model Predictive Control	311
	Real-world Problems	311
	History	313
	Unconstrained MPC for SISO Processes	314
	Prediction	315
	Unconstrained MPC for MIMO Processes	324
	Constrained MPC	329
	Variations in MPC Vendor Offerings	330
	MPC in Perspective	332
	References	334
Chapter 16	Other Control Techniques	335
	Split-range Control	335
	Cross-Limiting Control	338
	Floating Control	339
	Hot or Chilled Water Supply Systems	343
	Cooling Tower Systems	344
	Increasing Valve Rangeability	346
	Time Proportioning Control	349
	References	351
Appendix A	Signal Scaling	353
Appendix B	Derivation of Equations for Installed Valve Characteristics	359
	Index	365