‫بسم هللا الرحمن الرحيم‬
Advanced Process Control
Lecture one
1- Syllabus, Marking Scheme and Reference Books
2- Introduction to Single Input – Single Output Control (SISO)
- Feedback Control
- Feedforward and Cascade Control
Lecturer: M. A. Fanaei
Ferdowsi University of Mashhad
1
Syllabus
 Review of SISO control

Introduction to feedback control theory

Process modeling

Control valve characteristics

Types and modifications of PID controllers

Tuning of PID controllers (offline and online)

Discrete version of PID controllers

Dynamic simulation and control of chemical processes using
MATLAB/SIMULINK
2
Syllabus
 Advanced SISO control topics

Performance and robustness

Cascade control

Feedforward control

Ratio, Override and Selective Control

Predictive control (IMC and Smith predictor)

State-space model (Continuous and Discrete)
3
Syllabus
 MIMO control topics

Centralized and decentralized control

Interaction and relative gain array

Design of static and dynamic decoupler

Predictive control (DMC)
4
Marking Scheme & Reference Books
 Marking scheme



Mid-term exam:
Final exam:
Homework:
35%
40%
25%
 Reference books

C. A. Smith and A. Corripio, Principles and Practice of Automatic Process
Control, 3rd edition, Wiley, 2006.

K. J. Astrom and T. Hagglund, Advanced PID Control, ISA, 2006.

T. E. Marlin, Process Control: designing processes and control systems for
dynamic performance, 2nd edition, McGraw-Hill, 2000.

K. Ogata, Modern Control Engineering, 3rd edition, McGraw-Hill, 1997.

K. J. Astrom and B. Wittenmark, Computer Controlled Systems, 3rd edition,
Prentice Hall, 1997.

C. C. Yu, Autotuning of PID controllers: A relay feedback approach, 2nd edition,
5
Springer, 2006.
Control objectives and structures
Safety
Environmental protection
Equipment protection
Smooth plant operation and production
Product quality
Profit optimization
Structures
Feedback
Feedforward
Feedback/Feedforward
Cascade
Objectives
6
Feedback control
Final Control
Element
Controller
Sensor
Transmitter
Controller
Final
element
Sensor
Manipulated variable
Controlled
variable
Process
Disturbances
Other outputs
7
Advantages and disadvantages of feedback control
Disadvantages
• Very simple technique
• Effective for all disturbances
• Provides zero ss offset
• Works with minimum knowledge
of the process
• Does not take control action
until the process output has
deviated from set point
• Affects the closed-loop
stability
Advantages
8
Feedforward control
9
Advantages and disadvantages of feedforward control
Disadvantages
• Compensates for a disturbance
before the process output is
affected
• Does not affect the stability of
the control system
• Can not eliminate steady-state
offset
• Requires a sensor and model
for each disturbance
Advantages
10
Feedback / feedforward control
11
Cascade Control
 When the simple feedback control structure don’t have an
acceptable performance, a cascade structure may improve
the performance (speed up the closed loop response).
 A cascade structure can be used, when a process has some
series dynamics and the output variables between theses
dynamics can be measured.
12
Cascade Control (a process example)
13
Cascade Control (a process example)
14