Practical Control Engineering: Guide for Engineers, Managers, and Practitioners (with MATLAB Examples)

Contents......Page 7
Preface......Page 17
1-1 What Is a Feedback Controller......Page 26
1-2 What Is a Feedforward Controller......Page 28
1-3 Process Disturbances......Page 30
1-4 Comparing Feedforward and Feedback Controllers......Page 32
1-5 Combining Feedforward and Feedback Controllers......Page 33
1-6 Why Is Feedback Control Difficult to Carry Out......Page 34
1-7 An Example of Controlling a Noisy Industrial Process......Page 35
1-8 What Is a Control Engineer......Page 40
1-9 Summary......Page 41
2-1 Approaches to Developing Control Algorithms......Page 42
2-2 Dealing with the Existing Process......Page 44
2-3 Dealing with Control Algorithms Bundled with the Process......Page 52
2-4 Some General Comments about Debugging Control Algorithms......Page 54
2-6 Documentation and Indispensability......Page 60
2-7 Summary......Page 61
3-1 The First-Qrder Process-an Introduction......Page 62
3-2 Mathematical Descriptions of the First-Grder Process......Page 64
3-3 The Laplace Transform......Page 82
3-4 Summary......Page 83
4-1 Onward to the Frequency Domain......Page 100
4-2 How Can Sinusoids Help Us with Understanding Feedback Control?......Page 112
4-3 The First-Grder Process with Feedback Control in the Frequency Domain......Page 116
4-4 A Pure Dead-Tune Process......Page 124
4-5 A First-Order with Dead-Tune (FOWDT) Process......Page 132
4-6 A Few Comments about Simulating Processes with Variable Dead Tunes......Page 139
4-7 Partial Summary and a Slight Modification of the Rule of Thumb......Page 141
4-8 Summary......Page 143
5-1 Third-Grder Process without Backflow......Page 146
5-2 Third-Grder Process with Backflow......Page 154
5-3 Control of Three-Tank System with No Backflow......Page 158
5-4 Critical Values and Finding the Poles......Page 164
5-5 Multitank Processes......Page 165
5-6 Summary......Page 168
6-1 The Dynamics of the Mass/Spring/ I>ashpotProcess......Page 170
6-2 Solutions in Four Domains......Page 174
6-2-5 Scaling and Round-off Error......Page 177
6-3 PI Control of the Mass/Spring/Dashpot Process......Page 178
6-4 Derivative Control (PID)......Page 181
6-5 Compensation before Control-The Transfer Function Approach......Page 190
6-6 Compensation before Control-The State-Space Approach......Page 196
6-7 An Electrical Analog to the Mass/DashPOt/ Spring Process......Page 199
6-8 Summary......Page 201
7-1 The Tubular Energy Exchanger- Steady State......Page 202
7-2 The Tubular Energy Exchanger-Transient Behavior......Page 205
7-3 Solution of the Tubular Heat Exchanger Equation......Page 208
7-4 Response of Tubular Heat Exchanger to Step in Jacket Temperature......Page 210
7-5 Studying the Tubular Energy Exchanger in the Frequency Domain......Page 213
7-6 Control of the Tubular Energy Exchanger......Page 117
7-7 Lumping the Tubular Energy Exchanger......Page 119
7-8 Lumping and Axial Transport......Page 225
7-9 State-Space Version of the Lumped Tubular ExChanger......Page 227
7-10 Summary......Page 229
8-1 The Discrete Tune Domain......Page 230
8-2 White Noise and Sample Estimates of Population Measures......Page 231
8-3 Non-White Stochastic Sequences......Page 240
8-4 Populations, Realizations, Samples, Estimates, and Expected Values......Page 241
8-5 Comments on Stochastic Disturbances and Difficulty of Control......Page 255
8-6 Summary......Page 259
9 The Discrete TIme Domain and the z- Transform......Page 260
9-1 Discretizing the First-Order Model......Page 261
9-2 Moving to the Z-Domain via the Backshift Operator......Page 263
9-3 Sampling and Zero-Holding......Page 264
9-4 Recognizing the First-Grder Model as a Discrete Tune Filter......Page 268
9-6 The Proportional-Integral Control Equation in the Discrete Time Domain......Page 269
9-7 Converting the Proportional-Integral Control Algorithm to Z- Transforms......Page 271
9-8 The PIID Control Equation in the Discrete Tune Domain......Page 272
9-9 Using the Laplace Transform to Design Control Algorithms-the Q Method......Page 274
9-10 Using the Z- Transform to Design Control Algorithms......Page 278
9-11 Designing a Control Algorithm for a Dead-Tune Process......Page 281
9-12 Moving to the Frequency Domain......Page 284
9-13 Filters......Page 288
9-14 Frequency Domain Filtering......Page 296
9-15 The Discrete Tune State-Space Equation......Page 298
9-16 Determining Model Parameters from Experimental Data......Page 299
9-17 Process Identification with White Noise mputs......Page 304
9-18 Summary......Page 308
10 Estimating the State and Using It for Control......Page 310
10-1 An Elementary Presentation of the Kalman Filter......Page 311
10-2 Estimating the Underdamped Process State......Page 316
10-3 The Dynamics of the Kalman Filter and an Alternative Way to Find the Gain......Page 321
10-4 Using the Kalman Filter for Control......Page 324
10-4-1 A Little Detour to Find the IntealGain......Page 325
10-5 Feeding Back the State for Control......Page 326
10-6 Integral and Multidimensional Control......Page 328
10-8 Control of the Lumped Tubular Energy Exchanger......Page 335
10-9 Miscellaneous Issues......Page 340
10-10 Summary......Page 341
11-1 The Strange Motel Shower Stall Control Problem......Page 342
11-2 Identifying the Strange Motel Shower Stall Control Approach as Integral Only......Page 346
11-3 Proportional-Integral, Proportional-Only, and Proportional-Integral-Derivative Control......Page 347
11-4 Cascade Control......Page 353
11-5 Control of White Noise--Conventional Feedback Control versus SPC......Page 357
11-6 Control Choices......Page 360
11-7 Analysis and Design Tool Choices......Page 362
A: Rudimentary Calculus......Page 364
B: Complex Numbers......Page 382
C: Spectral Analysis......Page 394
D: Infinite and Taylor\'s Series......Page 410
E: Application of the Exponential Function to Differential Equations......Page 414
F: The Laplace Transform......Page 420
G: Vectors and Matrices......Page 446
H: Solving the State-Space Equation......Page 468
I: The Z- Transform......Page 480
J: A Brief Exposure to Matlab......Page 492
Index......Page 496