1. Fundamentals -- 1.1 Introduction -- 1.1.1 Perspective -- 1.1.2 Overview -- 1.1.3 Recommendations -- 1.2 PID controller -- 1.2.1 Proportional mode -- 1.2.2 Integral mode -- 1.2.3 Derivative mode -- 1.2.4 ARW and output limits -- 1.2.5 Control action and valve action -- 1.2.6 Operating modes -- 1.3 Loop dynamics -- 1.3.1 Types of process responses -- 1.3.2 Dead times and time constants -- 1.3.3 Open loop self-regulating and integrating process gains -- 1.3.4 Deadband, resolution, and threshold sensitivity -- 1.4 Typical mode settings -- 1.5 Typical tuning methods -- 1.5.1 Lambda tuning for self-regulating processes -- 1.5.2 Lambda tuning for integrating processes -- 1.5.3 IMC tuning for self-regulating processes -- 1.5.4 IMC tuning for integrating processes -- 1.5.5 Skogestad internal model control tuning for self-regulating processes -- 1.5.6 SIMC tuning for integrating processes -- 1.5.7 Traditional open loop tuning -- 1.5.8 Modified Ziegler-Nichols reaction curve tuning -- 1.5.9 Modified Ziegler-Nichols ultimate oscillation tuning -- 1.5.10 Quarter amplitude oscillation tuning -- 1.5.11 SCM tuning for self-regulating processes -- 1.5.12 SCM tuning for integrating processes -- 1.5.13 SCM tuning for runaway processes -- 1.5.14 Maximizing absorption of variability tuning for surge tank level -- 1.6 Test results -- 1.6.1 Performance of tuning settings on dead time dominant processes -- 1.6.2 Performance of tuning settings on near-integrating processes -- 1.6.3 Performance of tuning settings on true integrating processes -- 1.6.4 Performance of tuning settings on runaway processes -- 1.6.5 Slow oscillations from low PID gain in integrating and runaway processes -- 1.6.6 Performance of tuning methods on various processes -- Key points --

2. Unified methodology -- 2.1 Introduction -- 2.1.1 Perspective -- 2.1.2 Overview -- 2.1.3 Recommendations -- 2.2 PID features -- 2.2.1 PID form -- 2.2.2 External reset feedback -- 2.2.3 PID structure -- 2.2.4 Split range -- 2.2.5 Signal characterization -- 2.2.6 Feedforward -- 2.2.7 Decoupling -- 2.2.8 Output tracking and remote output -- 2.2.9 Setpoint filter, lead-lag, and rate limits -- 2.2.10 Enhanced PID for wireless and analyzers -- 2.3 Automation system difficulties -- 2.3.1 Open loop gain problems -- 2.3.2 Time constant problems -- 2.3.3 Dead time problems -- 2.3.4 Limit cycle problems -- 2.3.5 Noise problems -- 2.3.6 Accuracy and precision problems -- 2.4 Process objectives -- 2.4.1 Maximize turndown -- 2.4.2 Maximize safety and environmental protection -- 2.4.3 Minimize product variability -- 2.4.4 Maximize process efficiency and capacity -- 2.5 Step-by-step solutions -- 2.6 Test results -- Key points --

3. Performance criteria -- 3.1 Introduction -- 3.1.1 Perspective -- 3.1.2 Overview -- 3.1.3 Recommendations -- 3.2 Disturbance response metrics -- 3.2.1 Accumulated error -- 3.2.2 Peak error -- 3.2.3 Disturbance lag -- 3.3 Setpoint response metrics -- 3.3.1 Rise time -- 3.3.2 Overshoot and undershoot -- Key points --

4. Effect of process dynamics -- 4.1 Introduction -- 4.1.1 Perspective -- 4.1.2 Overview -- 4.1.3 Recommendations -- 4.2 Effect of mechanical design -- 4.2.1 Equipment and piping dynamics -- 4.2.2 Common equipment and piping design mistakes -- 4.3 Estimation of total dead time -- 4.4 Estimation of open loop gain -- 4.5 Major types of process responses -- 4.5.1 Self-regulating processes -- 4.5.2 Integrating processes -- 4.5.3 Runaway processes -- 4.6 Examples -- 4.6.1 Waste treatment pH loops (self-regulating process) -- 4.6.2 Boiler feedwater flow loop (self-regulating process) -- 4.6.3 Boiler drum level loop (integrating process) -- 4.6.4 Furnace pressure loop (near-integrating process) -- 4.6.5 Exothermic reactor cascade temperature loop (runaway process) -- 4.6.6 Biological reactor biomass concentration loop (runaway process) -- Key points --

5. Effect of controller dynamics -- 5.1 Introduction -- 5.1.1 Perspective -- 5.1.2 Overview -- 5.1.3 Recommendations -- 5.2 Execution rate and filter time -- 5.2.1 First effect via equation for integrated error -- 5.2.2 Second effect via equations for implied dead time -- 5.3 Smart reset action -- 5.4 Diagnosis of tuning problems -- 5.5 Furnace pressure loop example (near-integrating) -- 5.6 Test results -- Key points --

6. Effect of measurement dynamics -- 6.1 Introduction -- 6.1.1 Perspective -- 6.1.2 Overview -- 6.1.3 Recommendations -- 6.2 Wireless update rate and transmitter damping -- 6.2.1 First effect via equation for integrated error -- 6.2.2 Second effect via equations for implied dead time -- 6.3 Analyzers -- 6.4 Sensor lags and delays -- 6.5 Noise and repeatability -- 6.6 Threshold sensitivity and resolution limits -- 6.7 Rangeability (turndown) -- 6.8 Runaway processes -- 6.9 Accuracy, precision, and drift -- 6.10 Attenuation and deception -- 6.11 Examples -- 6.11.1 Waste treatment pH loop (self-regulating process) -- 6.11.2 Boiler feedwater flow loop (self-regulating process) -- 6.11.3 Boiler drum level loop (integrating process) -- 6.11.4 Furnace pressure loop (near-integrating process) -- 6.11.5 Exothermic reactor cascade temperature loop (runaway process) -- 6.11.6 Biological reactor biomass concentration loop (runaway process) -- 6.12 Test results -- Key points --

7. Effect of valve and variable frequency drive dynamics -- 7.1 Introduction -- 7.1.1 Perspective -- 7.1.2 Overview -- 7.1.3 Recommendations -- 7.2 Valve positioners and accessories -- 7.2.1 Pneumatic positioners -- 7.2.2 Digital positioners -- 7.2.3 Current to pneumatic (I/P) transducers -- 7.2.4 Solenoid valves -- 7.2.5 Volume boosters -- 7.3 Actuators, shafts, and stems -- 7.3.1 Diaphragm actuators -- 7.3.2 Piston actuators -- 7.3.3 Linkages and connections -- 7.4 VFD system design -- 7.4.1 Pulse width modulation -- 7.4.2 Cable problems -- 7.4.3 Bearing problems -- 7.4.4 Speed slip -- 7.4.5 Motor requirements -- 7.4.6 Drive controls -- 7.5 Dynamic response -- 7.5.1 Control valve response -- 7.5.2 VFD response -- 7.5.3 Dead time approximation -- 7.5.4 Deadband and resolution -- 7.5.5 When is a valve or VFD too slow? -- 7.5.6 Limit cycles -- 7.6 Installed flow characteristics and rangeability -- 7.6.1 Valve flow characteristics -- 7.6.2 Valve rangeability -- 7.6.3 VFD flow characteristics -- 7.6.4 VFD rangeability -- 7.7 Best practices -- 7.7.1 Control valve design specifications -- 7.7.2 VFD design specifications -- 7.8 Test results -- Key points --

8. Effect of disturbances -- 8.1 Introduction -- 8.1.1 Perspective -- 8.1.2 Overview -- 8.1.3 Recommendations -- 8.2 Disturbance dynamics -- 8.2.1 Load time constants -- 8.2.2 Load rate limit -- 8.2.3 Disturbance dead time -- 8.2.4 Disturbance oscillations -- 8.3 Disturbance location -- 8.4 Disturbance troubleshooting -- 8.4.1 Sources of fast oscillations -- 8.4.2 Sources of slow oscillations -- 8.5 Disturbance mitigation -- 8.6 Test results -- Key points --

9. Effect of nonlinearities -- 9.1 Introduction -- 9.1.1 Perspective -- 9.1.2 Overview -- 9.1.3 Recommendations -- 9.2 Variable gain -- 9.2.1 Cascade control -- 9.2.2 Reversals of process sign -- 9.2.3 Signal characterization -- 9.2.4 Gain scheduling -- 9.2.5 Adaptive control -- 9.2.6 Gain margin -- 9.3 Variable dead time -- 9.4 Variable time constant -- 9.5 Inverse response -- 9.6 Test results -- Key points --

10. Effect of interactions -- 10.1 Introduction -- 10.1.1 Perspective -- 10.1.2 Overview -- 10.1.3 Recommendations -- 10.2 Pairing -- 10.2.1 Relative gain array -- 10.2.2 Distillation column example -- 10.2.3 Static mixer example -- 10.2.4 Hidden control loops -- 10.2.5 Relative gains less than zero -- 10.2.6 Relative gains from zero to one -- 10.2.7 Relative gains greater than one -- 10.2.8 Model predictive control -- 10.3 Decoupling -- 10.4 Directional move suppression -- 10.5 Tuning -- 10.6 Test results -- Key points --

11. Cascade control -- 11.1 Introduction -- 11.1.1 Perspective -- 11.1.2 Overview -- 11.1.3 Recommendations -- 11.2 Configuration and tuning -- 11.3 Process control benefits -- 11.4 Process knowledge benefits -- 11.5 Watch-outs -- 11.6 Test results -- Key points --

12. Advanced regulatory control -- 12.1 Introduction -- 12.1.1 Perspective -- 12.1.2 Overview -- 12.1.3 Recommendations -- 12.2 Feedforward control -- 12.2.1 Opportunities -- 12.2.2 Watch-outs -- 12.3 Intelligent output action -- 12.3.1 Opportunities -- 12.3.2 Watch-outs -- 12.4 Intelligent integral action -- 12.4.1 Opportunities -- 12.4.2 Watch-outs -- 12.5 Dead time compensation -- 12.5.1 Opportunities -- 12.5.2 Watch-outs -- 12.6 Valve position control -- 12.6.1 Opportunities -- 12.6.2 Watch-outs -- 12.7 Override control -- 12.7.1 Opportunities -- 12.7.2 Watch-outs -- 12.8 Test results -- Key points --

13. Process control improvement -- 13.1 Introduction -- 13.1.1 Perspective -- 13.1.2 Overview -- 13.1.3 Recommendations -- 13.2 Unit operation metrics -- 13.3 Opportunities -- 13.3.1 Variability -- 13.3.2 Increasing capacity and efficiency -- 13.3.3 Effective use of models -- 13.3.4 Sizing and assessment -- 13.4 Key questions -- Key points --

14. Auto tuners and adaptive control -- 14.1 Introduction -- 14.1.1 Perspective -- 14.1.2 Overview -- 14.1.3 Recommendations -- 14.2 Methodology -- Key points --

15. Batch optimization -- 15.1 Introduction -- 15.1.1 Perspective -- 15.1.2 Overview -- 15.1.3 Recommendations -- 15.2 Cycle time -- 15.3 Profile -- 15.4 End point -- Key points --

Appendix A. Automation system performance top 10 concepts -- Appendix B. Basics of PID controllers -- Appendix C. Controller performance -- Appendix D. Discussion -- Appendix E. Enhanced PID for wireless and analyzer applications -- Appendix F. First principle process relationships -- Appendix G. Gas pressure dynamics -- Appendix H. Convective heat transfer coefficients -- Appendix I. Interactive to noninteractive time constant conversion -- Appendix. Jacket and coil temperature control -- Appendix K. PID forms and conversion of tuning settings -- Appendix L. Liquid mixing dynamics -- Appendix M. Measurement speed requirements for SIS -- References -- Bibliography -- About the author -- Index.