Organization of the Book

Chapter 1 provides a general introduction to process control. A brief introduction to mass and energy balances under transient conditions is presented in Chapter 2, while Chapters 21 and 22 present the necessary basic mathematical background on the Laplace transform and matrix theory.

The dynamics of processes are the subject of Chapters 3-9 and 14. The presentation starts with the simplest cases (first-order systems) in Chapter 3 and then generalizes. The presentation is made in the time domain (including discrete-time systems) and simultaneously in the Laplace transform domain (including frequency response). Chapters 4 and 5 present the dynamics of systems arising from the interconnection of first-order systems, as well as systems that are inherently second-order.

Higher-order systems are examined in Chapters 6-9 in the state space (Chapters 6 and 7) and in the Laplace space (Chapters 8 and 9). In these chapters, the concept of stability (asymptotic stability and input/output stability) is introduced and analyzed. The dynamics of systems with dead time are presented in Chapter 14. All chapters concerning dynamics constitute a core part of an undergraduate course in dynamics and process control.

The remainder of the book deals with process control. The basic feedback control structure is covered in Chapters 10-14. Chapter 10 provides a general introduction and defines the structure of classical PID controllers both in the time domain and in the Laplace domain. The analysis of closed-loop systems through transfer functions is the subject of Chapters 11 and 12. Chapter 13 covers the same subject, but the analysis is based on the time domain. Systems with dead time are presented in Chapter 14. We dedicate a separate chapter to dead time due to the specific mathematical methods required for studying related systems. Chapters 10-14 form the minimum material that should be covered in a relevant undergraduate course regarding the subject of control.

The following chapters address optional topics, and it is the instructor's responsibility to choose the most appropriate ones. Specifically, Chapter 15 presents the root locus, while Chapter 16 discusses calibration methods for classical controllers using optimization techniques. The topic of relative stability is presented in Chapter 17 with an emphasis on calibration methods for classical controllers based on relative stability. Chapter 18 examines multiple input and multiple output systems, while modern controller design techniques based on mathematical models are presented in Chapter 19. Chapter 20 focuses on advanced process control methods: ratio control, cascade control, and feedforward and combined feedforward/feedback control. The advanced methodologies are initially presented in a simple manner, followed by the introduction of modern controller design methodologies based on mathematical models.

It should be emphasized that each chapter concludes with a section related to MATLAB and Maple software. The effort is to gradually introduce the reader to these software tools through simple examples, which have been solved analytically in the corresponding chapter. MATLAB has powerful algorithms for performing complex numerical computations, while Maple is distinguished for its ability to perform symbolic calculations.

The table that follows provides a sample structure for an undergraduate course in dynamics and process control. This structure follows the teaching framework of the course at Texas A&M University, USA. It reflects the author's personal choices regarding (i) the coverage of control synthesis methods (optimization methods and advanced methods based on mathematical models) and (ii) the distribution of teaching hours (slow presentation of the basic concepts initially and then acceleration). Each instructor should rely on their own criteria for selecting the most appropriate teaching materials, as well as the level of the undergraduate students.