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Process Dynamics and Control, 2nd Edition By Dale E. Seborg, Thomas F. Edgar, and Duncan A. Mellichamp Article
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AIChE Journal · November 2008
DOI: 10.1002/aic.11628
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BOOK REVIEWS Process Dyna Process Dynamics mics and Cont Control, rol, 2nd Edition By Dale E. Seborg, Thomas F. Edgar, and Duncan A. Mellicha Mellichamp, mp, Wiley, Hoboken, NJ, 2003, 736 pp., $138.95.
The sec second ond edi editio tion n of thi thiss lea leading ding textbook textbook on process control has now been in use for severall acad era academi emicc year years, s, enou enough gh tim timee for its thor thor-ough evaluation and classroom testing. Significant revision of the original text reflects changing process control practice, and recognition of an incr increas eased ed imp import ortance ance of imp improve roved d proc process ess control at all levels—from levels—from regulatory to plantwide, thus, placing a premium on process engineers capable of unders understandi tanding, ng, mainta maintaining ining and designing designi ng the traditional traditional and advanced process control systems. The revised textbook consists of 24 chapters organized organiz ed into four parts, plus five appendi appendices. ces. The pr pres esent entat atio ion n st styl ylee is cl clea earr an and d con conci cise se which, according to studen students’ ts’ feedback, resulted in a ver very y rea readabl dablee tex textbo tbook. ok. The int introdu roducto ctory ry partt dis par discus cusses ses the need for proc process ess cont control rol,, introduces introd uces key termi terminology, nology, and gives illustraillustrativee exam tiv example ples, s, som somee of whi which ch are revisite revisited d in the subsequent chapters to introduce alternative and inc increas reasing ingly ly comp complex lex cont control rol sol soluti utions ons.. Example Exam pless of bot both h cont continu inuous ous and bat batch ch proc proc-esses are included. The discussion of the hierarchy of cont control rol problems problems,, and the roa roadmap dmap to the design of control systems conclude the first chapter. Chapter Cha pter 2 and Appe Appendi ndix x B sum summar marize ize the methodology of obtaining theoretical models of dynamic systems. Specific emphasis is on thermal,, flui mal fluid, d, reac reactio tion n and sep separa aratio tion n proc process esses; es; numerou nume rouss exam example pless are use used d to ill illust ustrat ratee the derivation of dynamic models based on theoretical considerations. Thee dyn Th dynam amic ic be behav havio iorr of li linea nearr sy syst stem emss (Chapters 3 to 7) is the subject of the second part of the book. The topics include linearizalinearization of nonline nonlinear ar models, Laplace transf transform orm and transfer transf er functi functions, ons, dynamic behavio behaviorr of simpl simplee processes, the effect of poles and zeros on the system sys tem res respons ponse, e, mul multiv tivari ariabl ablee sys system tems, s, and systems with time delays. Compared to the first editio edi tion, n, a gre greate aterr emp emphasi hasiss is plac placed ed on sta statetespace sp ace mo model delss and th thee re rela lati tions onshi hip p bet betwe ween en model mo delss of di diff ffer eren entt ty type pes. s. Par Partt Two is con con-clude cl uded d wi with th a con conci cise se su summ mmar ary y of se seve vera rall
methods for obt methods obtaini aining ng dyna dynamic mic mod models els fro from m processs respons proces responsee data, including graphical and regression regres sion techniques. An introd introductio uction n to system identification identification methods, not covered in the first edition, has been added. Analys Ana lysis is and des design ign of fee feedbac dback k and fee feed d forwar for ward d cont control roller lerss is the subj subject ect of the thi third rd part of the book. Chapters 8, 9 and Appendix A introduce intro duce fixed-structure fixed-structure (PID and on-off on-off)) controllers troll ers and the associ associated ated control instr instrument umentaation. tio n. In Cha Chapter pter 10, a pro procedu cedure re for selecting selecting the controlled, controlled, manipul manipulated ated and measur measured ed variables, and the discussion of consequences of process design decisions (such as heat integration integration and mat materi erial al rec recycl ycle) e) on the operation operation of control tr ol sy syst stem emss has be been en add added ed si since nce th thee fir first st edition. Dyna Dy nami micc be beha havi vior or an and d st stab abil ilit ity y of th thee closed clo sed-lo -loop op sys system temss is the sub subjec jectt of Chap Chapter ter 11. In Chap Chapter ter 12 des design ign,, tun tuning, ing, and tro trouble uble-shooti sho oting ng of PID cont control rol loops have been substanti sta ntiall ally y rev revise ised, d, and orga organiz nized ed int into o a sin single gle chapter. The frequency response methods in analys analysis is and design of control systems are considered in Chapters 13, 14 and Appendix D. In this new edition, editi on, the intro introductory ductory concepts of robust control have been added, while frequency-domai frequency-domain n identi ide ntificat fication ion of empi empiric rical al mod models els has been eliminated. In all chap chapter ters, s, the pre present sentati ation on is ric richly hly illust ill ustrat rated ed wit with h exam example ples. s. The exer exercis cisee prob prob-lems encourage students to use computer simulation lat ionss to fur furthe therr inve investi stigate gate the theore oretic tical al concepts. An introduction to Matlab and Simulink has been added (Appendix C). Several specialized specialized and advanced topics are coll co llec ectted in Pa Parrt Fo Four ur of th thee bo book ok.. Th Thee enhancements enhancem ents of singl single-loop e-loop controllers, controllers, such as cas cascade cade control control and tim timee del delay ay com compens pensaation, are the subject of Chapter 16, which also includes includ es the intro introductio duction n to select selective, ive, adaptive and nonlinear control systems. Design and tuning of dig digita itall cont control rol systems systems is dis discus cussed sed in Chapt Ch apter er 17. Ov Over eral all, l, zz-tr tran ansf sfor orm m met method hodss receiv rec eivee les lesss att attent ention ion tha than n in the firs firstt edi editio tion, n, while the emphasis on time-domain methods is increased throughout the text. Contro Con troll of mul multiv tivari ariabl ablee pro proces cesses ses is dis dis-cussed cus sed in Chap Chapter terss 18–2 18–20. 0. Fir First, st, the aut author horss introduce relative gain and singular value analysis as met methods hods for sys system temati aticc pai pairin ring g of inp input ut and output variables in order to minimize interacti ac tions ons be betw twee een n mu mult ltip iple le,, in inde depen penden dentl tlyy-
AiChE Journal, Vol. 54, 3026 (2008) American can Insti Institute tute of Chemic Chemical al Enginee Engineers rs 2008 Ameri DOI 10.1002/aic.11628 Published online September 24, 2008 in Wiley InterScience (www.interscience.wiley.com).
3026 30 26
DOI 10 10..10 1002 02/a /aic ic
Pub ubli lish shed ed on beh ehal alff of th thee AICh ChE E
designed, single designed, single-loop -loop contro controller llers. s. The strat strategies egies for reducing inter interaction actionss betwee between n multi multiple ple single-loop gle-l oop contro controllers llers are also considered. Realtime optimization optimization of multi multivariab variable le process processes es is discus dis cussed sed in Chap Chapter ter 19, whi while le the model predictive control of multivariable processes is the subject of Chapter 20. Part Four concludes with several new topics, including includ ing an intro introduction duction to stati statistica sticall process contro con troll and pro proces cesss moni monitor toring ing (Ch (Chapt apter er 21) 21),, contro con troll of bat batch ch proc process esses es (Ch (Chapt apter er 22) 22),, and design of plant-wide control systems (Chapters 23–24, and Appendix E). The revised text is primarily intended for use in teaching undergraduate process control. During a 15-w 15-week eek course an ins instru tructo ctorr can cov cover er most of the material from the first three parts of the text, plus selected topics from Part 4. Endof-chap ofchapter ter problems problems are ver very y good good,, and now includee a subst includ substantial antial number of Matla Matlab/Sim b/Simuulink lin k exer exercis cises. es. A use useful ful tool in tea teachi ching ng fro from m the textbook is an access-controlled instructor’s companion compani on Web site, which contai contains ns the solution manual, PowerPo PowerPoint int presentations presentations for all chapter cha pters, s, and a gal galler lery y of figur figures es and ima images ges appearing in the text. The second edition preserves the attributes that made the ori origina ginall text textbook book a succ success ess—th —thee balanced ance d and conci concise se pres presenta entatio tion n wit with h clar clarity ity and pedagogical skill—and incorpor incorporates ates significa significant nt revisions that reflect the changing process control practice, practic e, maturat maturation ion of several theoreti theoretical cal directions, and an evolution of the chemical engineering curr curricul iculum um in resp response onse to tech technolo nologica gicall and economi econ omicc chan changes. ges. Desp Despite ite the int introdu roducti ction on of sever se veral al new top topic icss and exp expand anded ed cov covera erage ge of others, the authors maintained approximately the samee page count by elim sam eliminat inating ing les lesss impo importan rtantt and outdated material. The presenta presentation tion is readable and amply illustrated with examples. One of the best features of the textbook is a large number of well-designed exercises, ranging in difficult difficulty y from fro m simp simple le to chal challeng lenging. ing. In some cases, the exercise exer cisess res resembl emblee tro trouble ubleshoo shootin ting g sit situati uations ons when only symptoms of the problem are apparent, and the students must find a way to apply their theoretical knowledge to diagnose and resolve the problem. Overall, the revised book is one of the best textbook choices for teaching process control. It is also suitable suitab le for a self-study self-study of the subject, or as a reference for practicing process control engineers.
Mikhail Skliar Dept. of Chemical Engineering University of Utah 50 S. Central Campus Dr. Salt Lake City, UT 84112 E-mail:
[email protected]
Nov ovem emb ber 20 2008 08 Vo Voll. 54 54,, No No.. 11
AIChE AIC IChE hE Journal Jour Jo urna nall
