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The book is being revised with a second edition after over 15 years, as new techniques have been developed, particularly in multivariable control. The first edition was popular with students and teachers for combining modeling, simulation, and control, including sampled-data control, which was novel at the time. While control hardware changed significantly in the past decade, basic control concepts saw little advancement. However, in the last 5 years new useful multivariable control methods have emerged and need to be added. The second edition will include discussions of these practical techniques for controlling multivariable processes.

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Thefirsteditionofthisbookappearedoverfifteenyearsago.

Itwasthe
firstchemicalengineeringtextbooktocombinemodeling,simulation,
andcontrol.Italsowasthefirstchemicalengineeringbooktopresent
sampleddatacontrol.Thischoiceofsubjectsprovedtobepopularwithboth
studentsandteachersandofconsiderablepracticalutility.
Duringthetenyearperiodfollowingpublication,Iresistedsuggestionsfromthe
publishertoproduceasecondeditionbecauseIfelttherewerereallyveryfew
usefulnewdevelopmentsinthefield.Thecontrolhardwarehadchangeddrastically,
butthebasicconceptsandstrategiesofprocesscontrolhadundergonelittle
change.Mostofthenewbooksthathaveappearedduringthelastfifteenyearsare
verysimilarintheirscopeandcontenttothefirstedition.Basicclassicalcontrolis
stillthemajorsubject.
However,inthelastfiveyears,anumberofnewandusefultechniqueshavebeen
developed.Thisisparticularlytrueintheareaofmultivariablecontrol.ThereforeI
feelitistimeforasecondedition.
Intheareaofprocesscontrol,newmethodsofanalysisandsynthesisofcontrol
systemshavebeendevelopedandneedtobeaddedtotheprocesscontrolengineers
bagofpracticalmethods.Thedrivingforceformuchofthisdevelopmentwasthe
drasticincreaseinenergycostsinthe1970s.Thisledtomajorredesignsofmany
newandoldprocesses,usingenergyintegrationandmorecomplexprocessing
schemes.Theresultingplantsaremoreinterconnected.Thisincreasescontrolloop
interactionsandexpandsthedimensionofcontrolproblems.Therearemany
importantprocessesinwhichthree,four,orevenmorecontrolloopsinteract.
Asaresult,therehasbeenalotofresearchactivityinmultivariablecontrol,bothin
academiaandinindustry.Somepractical,usefultoolshavebeendevelopedto
designcontrolsystemsforthesemultivariableprocesses.Thesecondedition
includesafairlycomprehensivediscussionofwhatIfeelaretheusefultechniques
forcontrollingmultivariableprocesses.
xxi
XxiiPREFACE

Anothersignificantchangeoverthelastdecadehasbeenthedramatic
increaseinthecomputationalpowerreadilyavailabletoengineers.Most
calculationscanbeperformedonpersonalcomputersthathavecomputational
horsepowerequaltothatprovidedonlybymainframesafewyearsago.This

meansthatengineerscannowroutinelyusemorerigorousmethodsofanalysisand
synthesis.Thesecondeditionincludesmorecomputerprograms.Allaresuitablefor
executiononapersonalcomputer.
Intheareaofmathematicalmodeling,therehasbeenonlyminorprogress.Westill
areabletodescribethedynamicsofmostsystemsadequatelyforengineering
purposes.Thetradeoffbetweenmodelrigorandcomputationalefforthasshifted
towardmoreprecisemodelsduetotheincreaseincomputationalpowernoted
above.Thesecondeditionincludesseveralmoreexamplesofmodelsthataremore
rigorous.
Intheareaofsimulation,theanalogcomputerhasalmostcompletelydisappeared.
Therefore,analogsimulationhasbeendeletedfromthisedition.Manynewdigital
integrationalgorithmshavebeendeveloped,particularlyforhandlinglargenumbers
ofstiffordinarydifferentialequations.Computerprogrammingisnowroutinely
taughtatthehighschoollevel.Thesecondeditionincludesanexpandedtreatment
ofiterativeconvergencemethodsandofnumericalintegrationalgorithmsfor
ordinarydifferentialequations,includingbothexplicitandimplicitmethods.
Thesecondeditionpresentssomeofthematerialinaslightlydifferentsequence.
Fifteenadditionalyearsofteachingexperiencehaveconvincedmethatitiseasier
forthestudentstounderstandthetime,Laplace,andfrequencytechniquesifboth
thedynamicsandthecontrolarepresentedtogetherforeachdomain.Therefore,
openloopdynamicsandclosedloopcontrolarebothdiscussedinthetimedomain,
thenintheLaplacedomain,andfinallyinthefrequencydomain.Thezdomainis
discussedinPartVII.
Therehasbeenamodestincreaseinthenumberofexamplespresentedinthebook.
Thenumberofproblemshasbeengreatlyincreased.Fifteenyearsofquizzeshave
yieldedalmost100newproblems.
Thenewmaterialpresentedinthesecondeditionhascomefrommanysources.I
wouldliketoexpressmythanksforthemanyusefulcommentsandsuggestions
providedbycolleagueswhoreviewedthistextduringthecourseofitsdevelopment,
especiallytoDanielH.Chen,LamarUniversity;T.S.Jiang,UniversityofIllinois
Chicago;RichardKerrnode,UniversityofKentucky;SteveMelsheimer,Cignson
University;JamesPeterson,WashingtonStateUniversity;andR.RussellRhinehart,
TexasTechUniversity.Manystimulatingandusefuldiscussionsofmultivariable
controlwithBjornTyreusofDuPontandChristosGeorgakisofLehighUniversity
havecontributedsignificantly.Theeffortsandsuggestionsofmanystudentsare
gratefullyacknowledged.TheLACEYgroup(Luyben,Alatiqi,Chiang,Elaahi,
andYu)developedandevaluatedmuchof

thenewmaterialonmultivariablecontroldiscussedinPartVI.CarolBiuckiehelped
inthetypingofthefinalmanuscript.Lehighundergraduateandgraduateclasses
havecontributedtothebookforovertwentyyearsbytheirquestions,
.

...

PREFACEXXIII

youthfulenthusiasm,andgenuineinterestinthesubject.Iftheultimate
giftthatateachercanbegivenisagroupofgoodstudents,Ihaveindeed
beenblessed.Alhamdulillahi!
WilliamL.Luyben