Preface to the Third Edition ix 1 - Introduction 1 1-1. The Goal of Tuning 2 1-2. Feedback Control 3 1-3. Other Control Strategies 7 1-4. Organization of the Book 8 1-5. Summary 8 2 - The Feedback Controller 11 2-1. The PID Control Algorithm 12 2-2. Stability of the Feedback Loop 19 2-3.
PID Controller Tuning by the Ultimate Gain and Period Method 21 2-4. The Need for Alternatives to Ultimate Gain Tuning 29 2-5. Summary 29 3 - Open-loop Characterization of Process Dynamics 33 3-1. Open-loop Testing--Why and How 34 3-2. Process Parameters from the Open-loop Test 36 3-3. Physical Significance of the Time Constant 41 3-4. Physical Significance of Dead Time 46 3-5. Effect of Process Nonlinearities 50 3-6.
Summary 53 4 - How to Tune Feedback Controllers 57 4-1. Tuning from Open-loop Test Parameters 58 4-2. Practical Controller Tuning Tips 67 4-3. Reset Windup 70 4-4. Processes with Inverse Response 71 4-5. Effect of Nonlinearities 74 4-6. Summary 74 5 - Mode Selection and Tuning of Common Feedback Loops 77 5-1. Deciding on the Control Objective 78 5-2.
Flow Control 79 5-3. Level and Pressure Control 80 5-4. Temperature Control 87 5-5. Analyzer Control 91 5-6. Summary 92 6 - Tuning Sampled-Data Control Loops 95 6-1. The Discrete PID Control Algorithm 96 6-2. Tuning Sampled-data Feedback Controllers 103 6-3. Selection of the Sampling Frequency 111 6-4.
Compensation for Dead Time 113 6-5. Summary 117 7 - Tuning Cascade Control Systems 121 7-1. When to Apply Cascade Control 122 7-2. Selection of Controller Modes for Cascade Control 125 7-3. Tuning of Cascade Control Systems 127 7-4. Reset Windup in Cascade Control Systems 136 7-5. Summary 140 8 - Feedforward and Ratio Control 143 8-1. Why Feedforward Control? 144 8-2.
Design of Linear Feedforward Controllers 149 8-3. Tuning of Linear Feedforward Controllers 152 8-4. Nonlinear Feedforward Compensation 158 8-5. Summary 165 9 - Multivariable Control Systems 169 9-1. What is Loop Interaction? 170 9-2. Pairing of Controlled and Manipulated Variables 174 9-3. Design and Tuning of Decouplers 186 9-4. Tuning of Multivariable Control Systems 193 9-5.
Model Reference Control 196 9-6. Summary 198 10 - The Auto-tuner Application 201 10-1. Operation. 202 10-2. Applications 205 10-3. Features and Settings. 209 10-4. Summary 212 Review Questions 213 Appendix A - Suggested Reading and Study Materials 215 Appendix B - Answers to Study Questions 217 Index 233.