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The CACHE Virtual Process Control Book is intended to provide information on a variety of topics of interest to an undergraduate and/or graduate course on process dynamics and control. 

The current holdings include:

  • Introductory Material
    • System modeling, linear algebra review
    • Linear State Space Systems, controllability, observability
    • Stability and control of LTI systems
      • 2005 CEPAC PASI slides by Crisalle
  • Multivariable Process  Control
    • Continuous time systems, frequency response
    • RGA, multivariable systems
    • SVD, LQR, control and design
      • Chapters 1-3 of Multivariable Process Control by Skogestad and Postlethwaite
      • Course notes by Huang
  • Discrete Modeling and Control
    • Z Transform, ARMA Models, Velocity form PID
      • Chapters 22-26 Process Dynamics and Control, first edition by Seborg, Edgar, and Mellichamp
  • Advanced Control and State Estimation
    • Control of lumped and distributed parameter systems
    • State estimation, Kalman filter, stochastic system control
      • Advanced Process Control by Ray
      • Course notes by Edgar
  • Robust Control
    • Performance limitations,
    • SISO and MIMO IMC
      • Robust Process Control by Morari and Zafiriou
  • Model Predictive Control
    • Constrained optimization
    • Linear and nonlinear MPC
      • Links to review papers by Morari, Lee, and Henson.  Requires electronic access to journals
      • Course notes by Huang
      • 2005 CEPAC PASI slides by Lee
  • Nonlinear Process Control
    • Nonlinear identification
    • Differential geometric methods
    • Nonlinear state estimation
      • Nonlinear Process Control, edited by Henson and Seborg.
      • Chapter authors include Seborg, Henson, Pearson, Ogunnaike, Doyle, Meadows, Rawlings, Muske, and Edgar
      • Book chapter on Nonlinear Control of Industrial Processes by Ogunnaike
  • Optimal Control
    • Use of linear and bilinear matrix inequalities
      • Link to paper by VanAntwerp and Braatz.  Requires electronic access to journals
The material is provided free of charge.  In some cases, CACHE has been granted permission from the copyright holders to distribute the materials.  In other cases, a link to the material is provided.  To access the Tutorials and Review articles, you must have access to the online journals.

If you would like to contribute to this effort, please contact Ed Gatzke or Juergen Hahn.  Book chapters, class handouts, and lecture notes would be appreciated.












  

Introductory Material

Oscar Crisalle's 2005 CEPAC PASI slides on basics of linear systems here (large PDF file).





 

Multivariable Process Control

From Multivariable Process Control by Sigurd Skogestad and Ian Postlethwaite.

Published by Wiley, 2005, 600 pages. This book is available at amazon.com
  • Chapters 1-3
    • Introduction - Transfer functions, scaling, state space
    • Classical Feedback Control - Frequency response, closed-loop stability, loop shaping, IMC and PID design
    • Introduction to Multivariable Control - MIMO transfer functions, Multivariable frequency response, RGA, SVD, MIMO robustness


From course notes by Hsiao-Ping Huang.





 

Discrete Modeling and Control

From the first edition of Process Dynamics and Control by Dale Seborg, Tom Edgar, and Duncan Mellichamp.

Published by Wiley, 1989, 717 pages.  The more recent second edition is available at amazon.com





 

Advanced Control and State Estimation

From Advanced Process Control by Harmon RayPublished by Butterworth, 1981, 376 pages.  Used copies may be available at amazon.com

WARNING: Large PDF files


Slides from course notes by Tom Edgar.





 

Robust Control

From Robust Process Control by Manfred Morari and Evanghelos Zafiriou.  Published by Prentice Hall, 1989, 488 pages.  Used copies may be available at amazon.com

WARNING: Large PDF files






 

Model Predictive Control


Selected review articles.  May require that you have access to these Elsevier online journals.

Model predictive control: past, present and future
Manfred Morari and Jay H. Lee
Computers & Chemical Engineering, Volume 23, Issues 4-5, May 1999, Pages 667-682
 
Nonlinear model predictive control: current status and future directions
Mike Henson
Computers & Chemical Engineering, Volume 23, Issue 2 , December 1998, Pages 187-202



Course notes by Hsiao-Ping Huang.

Jay H. Lee's 2005 CEPAC PASI slides on Model Predictive Control, WARNING: Large PDF file



  

 

Nonlinear Process Control

From Nonlinear Process Control, edited by Mike Henson and Dale Seborg.

Originally published by Prentice Hall, 1996, 432 pages.  Used copies may be available at amazon.com

This book covers topics relevant to nonlinear process control including empirical modeling, nonlinear state estimation, differential geometric methods, and nonlinear model predictive control.

WARNING: Large PDF files!

From Nonlinear Predictive Control: Theory and practice, edited by Basil Kouvaritakis and Mark Cannon; IEE Press, 2001. Used copies may be available at amazon.com







Optimal Control Using Matrix Inequalities


Review article.  May require that you have access to these Elsevier online journals.

A tutorial on linear and bilinear matrix inequalities
Jeremy G. VanAntwerp and Richard D. Braatz
Journal of Process Control, Volume 10, Issue 4, August 2000, Pages 363-385















Models and Simulations


Matlab based simulation models.  Collected by John Hedengren
Repository of 20+ dynamic models


















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