\)

Index

Action, 3 Cascade control, slave controller, 441

Action, of controller, 223, 228, 274
Action, of valve, 201, 750
Actuator, of valve, 200, 745
Adaptive tuning, 117, 687
Air-to-open/close, 201
Algorithm, 650,65 1,654,655
Amplitude ratio (AR), 391, 393
Analog, 5
Analog to digital converter, 600
Analyzer controller, 67 1, 676, 692
Angle condition, 375
Antoine equation, 59
Arrhenius equation, 60, 61
Automatic control, 2
Automatic tuning, 687
Averaging level control, 33 1, 336
Bellows, 721
Bias value, 221
Block diagram, 2 X 2 control system, 565, 585
Block diagram, 96
Block diagram, controller synthesis, 338
Block diagram, decoupled 2 X 2 system, 566
Block diagram, dynamic matrix control, 689
Block diagram, feedback loop, 254, 308
Block diagram, flow control loop, 268
Block diagram, internal model control, 350, 680
Block diagram, level control loop, 333
Block diagram, pressure control loop, 281
Block diagram, rules, 98
Block diagram, sampled data loop, 630
Block diagram, Smith predictor, 679
Block diagram, temperature control loop, 254,
261
Block diagram, unity feedback loop, 257, 309
Bode plot, 398, 405
Boiler control, 521
Bourdon tube, 721
Butterfly valve, 750
Capacity, of valve, 203
Cascade control, 439
Cascade control, master controller, 441
Cascade control, output tracking, 453
Cascade control, stability, 442
Cascade control, tuning, 445
Characteristic equation, 263
Characteristic equation, sampled data, 63 1
Characteristic time, 49
Characteristics, of valves, 210, 212
Characterization, of process, 308
Choked flow, 204
Closed loop control, 4
Closed loop gain, 549, 551
Closed loop transfer function, 255
Closed loop tuning, 304
Combustion control, 490
Complex conjugate, 70
Complex differentiation theorem, 19
Complex number, 68
Complex plane, 275
Complex translation theorem, 19
Complex translation theorem, of z-transform,
609
Compressor control, 294
Computer algorithm, 460, 650
Computer control, 329, 600
Conformal mapping, 421
Constraint control, 470
Control algorithm, 650
Control, computer, 329, 600
Control loop, 253
Control, multivariable, 545
Control, sampled data, 329, 599, 629
Control, schematics, 704
Control system, 2
Control valve (see Valve)
Controlled variable, 3, 223, 253
Controller, 3, 222
Controller, action, 223, 228, 274
Controller, error-squared, 240
Controller, gain, 227
Controller, gap or dead-band, 241
Controller, offset, 228, 233
Controller, output signal, 223
Controller, proportional (P), 227
Controller, proportional band (PB), 230
Controller, proportional-derivative (PD), 238
Controller, proportional-integral (PI), 23 1
763
764 I n d e x

Controller, proportional-integral-derivative Dynamic gain limit, 657

( P I D ) , 2 3 4 Dynamic matrix control (DMC), 688, 693
Controller, reset feedback, 244 Dynamic test (see Test)
Controller, series, 237 Dynamics, of multivariable systems, 585
Controller, stand alone, 222, 223
Controller, synthesis, 337 Effective time constant, 5 1, 149, 15 1
Controller, tuning, 303 Electrical signal, 5
Coriolisis flowmeter, 729 Equal-percentage characteristics, 211
Critical flow, 205 Error, 226, 253
Critical flow factor, 205 Error integral tuning, 322-325
Critically-damped response, 50 Error-squared controller, 240
Current-to-pressure transducer, 200 Exponential filter, 65 1
C, coefficient, 203
Factoring, of polynomials, 23, 32
Dahlin-Higham algorithm, 674-675 Fail open/closed, 201
Dahlin-Higham response, 338, 663 Feedback control, 3,6, 252
Damping ratio, 49 Feedback control algorithm, 655
Dead time, 17,27,93,285, 396,404 Feedback control loop (see Loop)
Dead time, compensation, 674 Feedback controller (see Controller)
Dead time, estimation, 312-314, 319 Feedforward control, 6,493
Dead time, response, 45 Feedforward control, lead/lag, 505
Dead time, sampled systems, 609 Feedforward control, linear, 494
Dead-band or gap controller, 241 Feedforward control, nonlinear, 5 11
Deadbeat response, 677, 679 Filled system thermometer, 738
Decay ratio, 36, 55 Filter algorithm, 65 1
Decision, 3 Final control element, 3
Decoupler, nonlinear, 577 Final value theorem, of Laplace transforms, 18
Decoupler, partial, 570 Final value theorem, of z-transform, 609
Decoupler, static, 573 First-order, lag, 86, 167
Decoupling, 564 First-order, lead, 167, 395,404
Density, of ideal gas, 64 First-order, time constant, 88
Dependent variable, 2 1 First-order, transfer function, 86
Derivative filter, 236, 657 First-order system, 39
Derivative on process variable, 240 First-order-plus-dead-time, 286, 309
Derivative time, 235 Flow control loop, 268
Derivative time, estimation, 352 Flow sensor, 723
Deviation variable, 3 1, 59, 85 Flowmeter, 723, 724-125, 728, 729
Diaphragm, 723 Fopdt, 286,309
Diaphragm valve, 746 Fopdt, parameter estimation, 3 11-3 14
Difference approximation, 65 1, 652 Forcing function, 21, 84
Differential pressure, 199, 723, 743 Fourier transform, 429, 43 1
Digital signal, 5 Frequency, 35, 54
Digital to analog converter, 600 Frequency response, 389, 392
Dirac Delta function, 13 Frequency, ultimate, 276
Direct action, 223, 228 Friction coefficient, 213
Direct substitution, 275-277
Discrete block, 625 Gain, 40, 49, 90
Distributed control (DCS), 222, 223 Gain, adjustment, 354
Disturbance, 4 Gain, closed loop, 549, 551
Disturbance response, 323 Gain, estimation, 3 11
Dmc control, 689, 693 Gain, margin, 415
Dominant root, 33, 381 Gain, of closed loop, 270
 Index 765

Gain, of control valve, 216-220 Inverse, of modified z-transform, 642

Gain, of controller, 227 Inverse, of z-transform, 613-615
Gain, of pulse transfer function, 620 ISA standard symbols, 700-704
Gain, of transmitter, 198
Gain, open loop, 549, 5.51 Labels, instrumentation, 699
Gain, relative, 552, 554, 561 Laplace transform, definition, 12
Gain, ultimate, 274, 276, 304, 411 Laplace transform, inverse, 23
Gap or dead-band controller, 241 Laplace transform, of derivatives, 16
Globe valve, 745 Laplace transform, of integrals, 17
Laplace transform, properties, 14
Heartbeat, 600 Laplace transform, table, 15
Heaviside, Oliver, 23 Laplace transform, variable, 12
Helix, 721 Lead, first-order, 395,404
Hertz (Hz), 36,55 Lead-lag algorithm, 653
High-order response, 57-59 Lead-lag unit, 46, 237
Hold device, 62 1 Level sensor, 733
Horizon, 689, 691 Linear characteristics, 114, 211
Linear system, 59
I/P transducer, 200 Linearization, 59, 60, 62
Ideal gas density, 64 Linearization, of differential equations, 65
Ideal sampler, 608 Liquid level control, 331-335
Identification, 687 Long division, of z-transform, 615
IMC algorithm, 680 Loop, characteristic equation, 263
IMC tuning rules, 350-35 1 Loop, feedback, 6, 253
Impulse function, 13 Loop, gain, 283
Impulse response, 617 Loop, interaction, 545
Impulse sampler, 608 Loop, stability, 274
Impulse transfer function, 616, 618 Lopez, A.M., 323
Incremental algorithm, 654
Inherent characteristics, 210 Magnetic flowmeter, 728
Initial value theorem, of Laplace transforms, 19 Magnitude condition, 375
Initial value theorem, of z-transform, 610 Magnitude ratio (MR), 391
Installed characteristics, 212 Manipulated variable, 3, 253
Instrumentation symbols, 699-704 Manual control, 2
Integral controller, 266 Mason’s gain formula, 58 1
Integral, of the absolute error (IAE), 322 Measurement, 3
Integral, of the squared error (ISE), 322 MIMO, 545
Integral, of time-weighted error (ITAE, ITSE), Minimal phase system, 407
323 Minimum error integral tuning, 324, 325
Integral time, 232 Model reference control, 688
Integral time, estimation, 352 Modeling, 9, 80
Integrating process, 33 1 Modified z-transform, definition, 638
Integrator, 397, 404 Modified z-transform, inverse, 642
Interacting, lags, 149 Modified z-transform, properties, 639
Interacting, system, 145 Monotonic response, 33
Interaction, 545 Move suppression, 69 1
Interaction, measure, 552, 554, 561 Multiple input multiple output, 545
Interaction, negative, 549 Multivariable control, 545
Interaction, positive, 549 Multivariable control, DMC, 693
Internal model control (IMC), 350-351
Internal model control (IMC), 680 Natural frequency, 49
Inverse, of Laplace transform, 23 Negative feedback, 254
766 Index

Nichols plot, 427 Process, integrating, 168

Nominal flow, 207 Process, inverse response, 179
Non-interacting systems, 13.5, 141 Process, linear, 115
Non-minimal phase system, 407 Process, non-self-regulating, 119, 167, 172, 179
Non-self-regulating process, 33 1 Process, nonlinear, 11.5
Nonlinear characteristics, 114 Process, open loop test, 310
Nonlinear system, 59 Process, open-loop unstable, 172, 179
Nyquist, 424 Process, reaction curve, 310
Process, self-regulating, 119, 167
Offset, 228, 233, 264, 270 Process variable (PV) tracking, 241
On-line tuning, 304 Proportional (P) controller, 227
Open loop characterization, 308 Proportional band (PB), 230
Open loop gain, 549, 551 Proportional control, of level, 334-335
Open loop test, 310 Proportional kick, 240
Open loop transfer function, 368 Proportional-derivative (PD) controller, 238
Optimization, 579 Proportional-Integral (PI) controller, 231
Orifice flowmeter, 723 Proportional-Integral-Derivative (PID), 234
Oscillatory response, 35 Pulse test, 427
Overcapacity factor, 208 Pulse transfer function, 616, 618
Overdamped response, 48, 50
Override control, 470 Quadratic formula, 23
Overshoot, 55 Quarter decay ratio, 306, 320
Quick-opening characteristics, 211
Pad& approximation, 285, 343
Pairing, of variables, 550, 553 Ramp response, first-order, 43
Parallel PID algorithm, 656 Ramp response, second-order, 52
Parameter estimation, 311-314 Ramp response, underdamped, 56
Partial differentiation theorem, of z-transform, Range, of transmitter, 197
610 Rangeability, of valve, 212
Partial fractions expansion, 23 Rangeability parameter, 211
Partial fractions expansion, of z-transform, 613 Raoult’s law, 78
Pendulum, 38 Rate time (see Derivative time)
Perfect control, 338 Ratio control, 487
Period of oscillation, 35, 54 Real differentiation theorem, 16
Period, ultimate, 276, 305 Real integration theorem, 17
Perturbation variables, 59 Real translation theorem, 17
Phase angle, 53, 391, 393 Real translation theorem, of z-transform, 609
Phase margin, 416 Recursive formula, 625, 651, 653, 655
PID algorithm, 656, 658, 666 Regulator, 323
Pneumatic signal, 5 Regulatory control, 4
Polar notation, 69 Relative gain, 552, 554, 561
Polar plots, 419 Relative volatility, 59
Poles, 369 Reset feedback, 244
Polynomial roots, 23, 32 Reset rate, 234
Positioner, 752 Reset time (see Integral time)
Pressure sensor, 721 Reset wind-up, 241
Principle of superposition, 97 Resistance thermometer device (RTD), 738
Process, characteristics, 81 Responding variable, 84
Process, characterization, 308 Response characteristics, 3 1
Process, dead time, 92 Response, monotonic, 33
Process, first-order-plus-dead-time, 120 Response, of high-order system, 57-59
Process, gain, 90 Response, oscillatory, 35

Response, sinusoidal, 389
Response, undamped, 50
Reverse action, 223, 228
Ringing, 633
Rise time, 55
Robustness, of feedback control, 351
Root, complex, 34
Root, dominant, 33
Root locus, 368
Root locus, angle condition, 375
Root locus, breakaway points, 377
Root locus, center of gravity, 377
Root locus, magnitude criterion, 375
Root locus, rules, 375
Root locus, sampled data loop, 638
Root, of characteristic equation, 263
Root, of polynomials, 23, 32
Root, real, 33
Root, repeated, 24
Routh’s test, 287
Rovira, A.A., 325
S-plane, 275
Sample time, 329, 599
Sample time, selection, 672
Sampled data control, 329, 599, 629-638
Saturation, 242
Schematics, of control systems, 704
Second-order, lag, 139
Second-order, transfer function, 139
Second-order, system, 48
Second-order-plus-dead-time, 309, 664
Selective control, 475
Self-tuning, 117
Sensor, 3, 197
Sensor, differential pressure, 723
Sensor, flow, 723
Sensor, level, 733
Sensor, pressure, 721
Sensor, temperature, 734
Series PID controller, 237, 658
Servo regulator, 4, 323
Set point, 3, 223, 226
Set point sensitivity ratio, 685
Settling time, 36, 55
Signal flow graphs (SFG), 580
Sinusoidal response, 389
Sinusoidal response, first-order, 43
Sinusoidal response, second-order, 53
Sinusoidal response, underdamped, 57
Smith, C. L., 313
Smith predictor, 677
Index 767
SOPDT, 309,664
Span, of transmitter, 197
Stability, 39, 407
Stability, criterion, 275, 410, 634
Stability, Nyquist criterion, 424
Stability, of feedback loop, 274
Stability, of sampled data loop, 632
Steady state gain (see Gain)
Step function, 12
Step response, 23
Step response, first-order, 41
Step response, second-order, 5 1
Step response, underdamped, 53
Step test, 310
Symbols, instrumentation, 699-704
Synthesis, of feedback controller, 337
Synthesis tuning, 345
Taylor series, 60
Temperature sensor, 734
Test, pulse, 427
Test, sinusoidal, 389
Test, step, 310
Thermistor, 738
Thermocouple, 741
Third-order, lag, 141
Third-order, transfer function, 141
Tight level control, 331
Time, characteristic, 49
Time constant, 40
Time constant, effective, 5 1
Time constant, estimation, 3 12-3 14, 319
Time delay (see Dead time)
Transducer, I/P, 5, 200
Transfer function, 22, 86, 95
Transfer function, closed loop, 255
Transfer function, of transmitter, 198
Transfer function, of valve, 221
Transfer function, open loop, 368
Transfer function, poles, 369
Transfer function, pulse, 616, 618
Transfer function, sampled data loop, 630
Transfer function, zeros, 369
Transmitter, 3, 197
Transmitter, differential pressure, 743
Transmitter, electronic, 745
Transmitter, pneumatic, 743
Transportation lag (see Dead time)
Tuning, adjustable parameter, 667, 685
Tuning, analyzer controller, 67 1,676
Tuning, by IMC, 350-351
Tuning, by synthesis, 345
768 I n d e x
Tuning, by Ziegler-Nichols, 304
Tuning, closed loop, 304
Tuning, for disturbance, 324
Tuning, for minimum error integral, 324, 325
Tuning, for set point change, 325
Tuning, of feedback controller, 303
Tuning, of integrating processes, 331-335
Tuning, of interacting systems, 590-591
Tuning, of PID algorithm, 666
Tuning, on-line method, 304
Tuning, quarter decay ratio, 306, 320
Tuning, tips, 351-354
Turbine flowmeter, 729
Ultimate frequency, 276
Ultimate gain, 274, 276, 304, 411
Ultimate gain, sampled data loop, 635, 638
Ultimate period, 276, 305
Undamped response, 50
Underdamped response, 48, 50, 53
Unit impulse function, 13
Unit step function, 12
Unity feedback loop, 257
Unrealizable controller, 342
Upset, 4
Valve, 200
Valve, action, 201
Valve, capacity coefficient (C,), 203
Valve, cavitation, 756
Valve, characteristics, 210, 212
Valve, compressibility effect, 205
Valve, fail position, 201
Valve, flashing, 756
Valve, gain, 216-220
Valve, position, 201
Valve, rangeability, 212
Valve, sizing, 207
Valve, transfer function, 221
Valve, types and components, 745-753
Valve, viscosity correction, 753
Variable pairing, 550
Watt, James, 22
z-transform, definition, 601
z-transform, inverse, 613-615
z-transform, modified, 638
z-transform, properties, 609-610
z-transform, table, 607
Zero, of transmitter, 198
Zero-order hold, 621
Zeros, 369
Ziegler-Nichols tuning, 304