Thefirsteditionofthisbookappearedoverfifteenyearsago.

Itwasthe
firstchemicalengineeringtextbooktocombinemodeling,simulation,
andcontrol.Italsowasthefirstchemicalengineeringbooktopresent
sampleddatacontrol.Thischoiceofsubjectsprovedtobepopularwithboth
studentsandteachersandofconsiderablepracticalutility.
Duringthetenyearperiodfollowingpublication,Iresistedsuggestionsfromthe
publishertoproduceasecondeditionbecauseIfelttherewerereallyveryfew
usefulnewdevelopmentsinthefield.Thecontrolhardwarehadchangeddrastically,
butthebasicconceptsandstrategiesofprocesscontrolhadundergonelittle
change.Mostofthenewbooksthathaveappearedduringthelastfifteenyearsare
verysimilarintheirscopeandcontenttothefirstedition.Basicclassicalcontrolis
stillthemajorsubject.
However,inthelastfiveyears,anumberofnewandusefultechniqueshavebeen
developed.Thisisparticularlytrueintheareaofmultivariablecontrol.ThereforeI
feelitistimeforasecondedition.
Intheareaofprocesscontrol,newmethodsofanalysisandsynthesisofcontrol
systemshavebeendevelopedandneedtobeaddedtotheprocesscontrolengineers
bagofpracticalmethods.Thedrivingforceformuchofthisdevelopmentwasthe
drasticincreaseinenergycostsinthe1970s.Thisledtomajorredesignsofmany
newandoldprocesses,usingenergyintegrationandmorecomplexprocessing
schemes.Theresultingplantsaremoreinterconnected.Thisincreasescontrolloop
interactionsandexpandsthedimensionofcontrolproblems.Therearemany
importantprocessesinwhichthree,four,orevenmorecontrolloopsinteract.
Asaresult,therehasbeenalotofresearchactivityinmultivariablecontrol,bothin
academiaandinindustry.Somepractical,usefultoolshavebeendevelopedto
designcontrolsystemsforthesemultivariableprocesses.Thesecondedition
includesafairlycomprehensivediscussionofwhatIfeelaretheusefultechniques
forcontrollingmultivariableprocesses.
xxi
XxiiPREFACE

Anothersignificantchangeoverthelastdecadehasbeenthedramatic
increaseinthecomputationalpowerreadilyavailabletoengineers.Most
calculationscanbeperformedonpersonalcomputersthathavecomputational
horsepowerequaltothatprovidedonlybymainframesafewyearsago.This

meansthatengineerscannowroutinelyusemorerigorousmethodsofanalysisand
synthesis.Thesecondeditionincludesmorecomputerprograms.Allaresuitablefor
executiononapersonalcomputer.
Intheareaofmathematicalmodeling,therehasbeenonlyminorprogress.Westill
areabletodescribethedynamicsofmostsystemsadequatelyforengineering
purposes.Thetradeoffbetweenmodelrigorandcomputationalefforthasshifted
towardmoreprecisemodelsduetotheincreaseincomputationalpowernoted
above.Thesecondeditionincludesseveralmoreexamplesofmodelsthataremore
rigorous.
Intheareaofsimulation,theanalogcomputerhasalmostcompletelydisappeared.
Therefore,analogsimulationhasbeendeletedfromthisedition.Manynewdigital
integrationalgorithmshavebeendeveloped,particularlyforhandlinglargenumbers
ofstiffordinarydifferentialequations.Computerprogrammingisnowroutinely
taughtatthehighschoollevel.Thesecondeditionincludesanexpandedtreatment
ofiterativeconvergencemethodsandofnumericalintegrationalgorithmsfor
ordinarydifferentialequations,includingbothexplicitandimplicitmethods.
Thesecondeditionpresentssomeofthematerialinaslightlydifferentsequence.
Fifteenadditionalyearsofteachingexperiencehaveconvincedmethatitiseasier
forthestudentstounderstandthetime,Laplace,andfrequencytechniquesifboth
thedynamicsandthecontrolarepresentedtogetherforeachdomain.Therefore,
openloopdynamicsandclosedloopcontrolarebothdiscussedinthetimedomain,
thenintheLaplacedomain,andfinallyinthefrequencydomain.Thezdomainis
discussedinPartVII.
Therehasbeenamodestincreaseinthenumberofexamplespresentedinthebook.
Thenumberofproblemshasbeengreatlyincreased.Fifteenyearsofquizzeshave
yieldedalmost100newproblems.
Thenewmaterialpresentedinthesecondeditionhascomefrommanysources.I
wouldliketoexpressmythanksforthemanyusefulcommentsandsuggestions
providedbycolleagueswhoreviewedthistextduringthecourseofitsdevelopment,
especiallytoDanielH.Chen,LamarUniversity;T.S.Jiang,UniversityofIllinois
Chicago;RichardKerrnode,UniversityofKentucky;SteveMelsheimer,Cignson
University;JamesPeterson,WashingtonStateUniversity;andR.RussellRhinehart,
TexasTechUniversity.Manystimulatingandusefuldiscussionsofmultivariable
controlwithBjornTyreusofDuPontandChristosGeorgakisofLehighUniversity
havecontributedsignificantly.Theeffortsandsuggestionsofmanystudentsare
gratefullyacknowledged.TheLACEYgroup(Luyben,Alatiqi,Chiang,Elaahi,
andYu)developedandevaluatedmuchof

thenewmaterialonmultivariablecontroldiscussedinPartVI.CarolBiuckiehelped
inthetypingofthefinalmanuscript.Lehighundergraduateandgraduateclasses
havecontributedtothebookforovertwentyyearsbytheirquestions,
.

...

PREFACEXXIII

youthfulenthusiasm,andgenuineinterestinthesubject.Iftheultimate
giftthatateachercanbegivenisagroupofgoodstudents,Ihaveindeed
beenblessed.Alhamdulillahi!
WilliamL.Luyben