Cover -- Half Title -- Title Page -- Copyright Page -- Dedication -- Contents -- Preface -- 1. Introduction -- 1.1 Single-Input-Single-Output and Multi-Input-Multi-Output Controllers -- 1.2 Regulatory and Servo Control Problems -- 1.3 Dynamic Behaviour of Processes -- 1.4 Summary -- 2. Models for Control -- 2.1 Nonlinear State-space Models -- 2.2 Linearization and Linear State-space Models -- 2.3 Transfer Function Models -- 2.4 Summary -- 2.5 Problems and Solutions -- 2.6 Exercises -- 3. Process Identification -- 3.1 Identification of First-order Processes
3.2 Identification of First-order Plus Time-delay Processes -- 3.3 Identification of Second-order Processes -- 3.3.1 Identification of Underdamped Second-order Systems -- 3.3.2 Identification of Overdamped Second-order Systems -- 3.4 Summary -- 3.5 Problems and Solutions -- 3.6 Exercises -- 4. Analysis of Transfer Function Models -- 4.1 Partial Fractions Approach for Solving Transfer Functions -- 4.2 Stability of Transfer Function -- 4.3 Summary -- 4.4 Problems and Solutions -- 4.5 Exercises -- 5. Controllers and Analysis of Closed-loop Transfer Functions -- 5.1 PID Controllers
5.2 Analysis of Block Diagram -- 5.3 Routh Stability Analysis -- 5.4 Summary -- 5.5 Problems and Solutions -- 5.6 Exercises -- 6. Controller Tuning -- 6.1 Stability-based Ziegler-Nichols Tuning -- 6.2 Tuning Based on Direct Synthesis -- 6.2.1 Inverse Response Systems -- 6.2.2 Systems with Time-delay -- 6.2.3 Unstable Systems -- 6.3 Internal Model Control -- 6.4 Summary -- 6.5 Problems and Solutions -- 6.6 Exercises -- 7. MIMO Control Concepts -- 7.1 Cascade Control -- 7.2 Feed-forward Control -- 7.3 Relative Gain Array -- 7.4 Static Decoupler -- 7.5 Dynamic Decoupling
7.6 Multivariable PID control -- 7.7 Summary -- 7.8 Problems and Solutions -- 7.9 Exercises -- 8. Model Predictive Control -- 8.1 MPC and PID -- 8.2 Key Aspects of MPC -- 8.3 Development of Discrete Models -- 8.4 MPC Formulation -- 8.4.1 MPC Demonstration through a Simple Example -- 8.5 Bias Removal in MPC -- 8.6 Summary -- 8.7 Problems and Solutions -- 8.8 Exercises -- 9. Fundamentals of Controller Performance Assessment -- 9.1 Performance Assessment of Control Loops -- 9.2 Identifying Drifts -- 9.3 Identifying Poor Dynamics -- 9.3.1 Model-based Approach -- DS/IMC Tuning Rule Based Indices
9.3.1.1 Algorithm for Development of SIMC Based Performance Indices -- 9.3.2 Idle Index Technique for Identification of Sluggish Control Loops -- 9.4 Time Series Analysis: Preliminaries -- 9.5 Identifying Increased Variability -- 9.5.1 Minimum Variance Index -- 9.5.2 Scaling Exponent Based Measure -- 9.5.2.1 Implications of the Scaling Exponent to Control Loop Performance Assessment -- 9.6 Detecting Oscillations -- 9.6.1 Decay-ratio Approach for Oscillation Detection -- 9.7 Summary -- 9.8 Problems and Solutions -- 9.9 Exercises -- 10. Fundamentals of Controller Performance Diagnosis
