I. Modern
Control is Based on Process Dynamic Behavior
1) Fundamental Principles of Process Control
Motivation and Terminology of Automatic Process Control
The Components of a Control Loop
Process Data, Dynamic Modeling and a Recipe for Profitable
Control
Sample Time Impacts Controller Performance
2) Graphical Modeling of Process Dynamics: Heat Exchanger Case Study
Step Test Data From the Heat Exchanger Process
Process Gain is the "How Far" Variable
Process Time Constant is the "How Fast" Variable
Dead Time is the "How Much Delay" Variable
Validating Our Heat Exchanger Process FOPDT Model
3) Modeling Process Dynamics: Gravity Drained Tanks Case Study
The Gravity Drained Tanks Process
Dynamic "Bump" Testing of the Gravity Drained Tanks Process
Graphical Modeling of Gravity Drained Tanks Step Test
Modeling Gravity Drained Tanks Data Using Software
4) Software Modeling of Process Dynamics: Jacketed Stirred Reactor Case Study
Design Level of Operation for the Jacketed Stirred Reactor
Process
Modeling the Dynamics of the Jacketed Stirred Reactor with
Software
Exploring the FOPDT Model With a Parameter Sensitivity
Study
II. PID Controller Design and Tuning
5) Process Control Preliminaries
Design and Tuning Recipe Must Consider Nonlinear Process
Behavior
A Controller's "Process" Goes From Wire Out to Wire In
The Normal or Standard PID Algorithm
6) Proportional Control - The Simplest PID Controller
The P-Only Control Algorithm
P-Only Control of the Heat Exchanger Shows Offset
P-Only Disturbance Rejection of the Gravity Drained
Tanks
7) Caution: Pay Attention to Units and Scaling
Controller Gain is Dimensionless in Commercial Systems
8) Integral Action and PI Control
Integral Action and PI Control
PI Control of the Heat Exchanger
PI Disturbance Rejection of the Gravity Drained Tanks
The Challenge of Interacting Tuning Parameters
PI Disturbance Rejection in the Jacketed Stirred Reactor
Integral (Reset) Windup, Jacketing Logic and the Velocity PI
Form
9) Derivative Action and PID Control
PID Control and Derivative on Measurement
The Chaos of Commercial PID Control
PID Control of the Heat Exchanger
Measurement Noise Degrades Derivative Action
PID Disturbance Rejection of the Gravity Drained Tanks
10) Signal Filters and the PID with Controller Output Filter Algorithm
Using Signal Filters In Our PID Loop
PID with Controller Output (CO) Filter
PID with CO Filter Control of the Heat Exchanger
PID with CO Filter Disturbance Rejection in the Jacketed
Stirred Reactor
III. Additional PID Design and Tuning Concepts
11) Exploring Deeper: Sample Time, Parameter Scheduling, Plant-Wide Control
Sample Time is a Fundamental Design and Tuning Specification
Parameter Scheduling and Adaptive Control of Nonlinear
Processes
Plant-Wide Control Requires a Strong PID Foundation
12) Controller Tuning Using Closed-Loop (Automatic Mode) Data
Ziegler-Nichols Closed-Loop Method a Poor Choice for
Production Processes
Controller Tuning Using Set Point Driven Data
Do Not Use Disturbance Driven Data for Controller
Tuning
13) Evaluating Controller Performance
C omparing Controller Performance Using Response Plot Data
IV. Control of Integrating Processes
14) Integrating (Non-Self Regulating) Processes
Recognizing Integrating (Non-Self Regulating) Process
Behavior
A Design and Tuning Recipe for Integrating Processes
Analyzing Pumped Tank Dynamics with a FOPDT Integrating Model
PI Control of the Integrating Pumped Tank
Process
V. Advanced Classical Control Architectures
15) Cascade Control For Improved Disturbance Rejection
The Cascade Control Architecture
An Implementation Recipe for Cascade Control
A Cascade Control Architecture for the Jacketed Stirred
Reactor
Cascade Disturbance Rejection in the Jacketed Stirred
Reactor
16) Feed Forward with Feedback Trim For Improved Disturbance Rejection
The Feed Forward Controller
Feed Forward Uses Models Within the Controller Architecture
Static Feed Forward and Disturbance Rejection in the Jacketed
Reactor
17) Ratio, Override and Cross-Limiting Control
The Ratio Control Architecture
Ratio Control and Metered-Air Combustion Processes
Override (Select) Elements and Their Use in Ratio Control
Ratio with Cross-Limiting Override Control of a Combustion
Process
18) Cascade, Feed Forward and Three-Element Control
Cascade, Feed Forward and Steam Boiler Level Control
Dynamic Shrink/Swell and Steam Boiler Level Control
VI. Process Applications in Control
19) Distillation Column Control
Introduction to Distillation Column Control
Major Disturbances & First-Level Distillation Column
Control
Inferential Temperature & Single-Ended Column Control
Dual Composition Control & Constraint Distillation Column
Control
20) Discrete Time Modeling of Dynamic Systems
A Discrete Time Linear Model of the Heat Exchanger
21) Fuzzy Logic and Process Control
Envelope Optimization and Control Using Fuzzy Logic