PROCESS INSTRUMENTATION

AND CONTROL
(CHE1021U)

CHAPTER 1. INTRODUCTION
Dr. Nguyễn Thành Duy Quang
Faculty of Chemical Engineering
Ho Chi Minh City University of Technology
Visiting Lecturer @ International University

E-mail1: ntdquang@hcmut.edu.vn
E-mail2: ntdquang@gmail.com
 References

1. D. Seborg, T. Edgar, D. Mellichamp, F. Doyle III (2017).

Process Dynamics and Control, 4th Ed, Wiley
2. Alexandre C. Dimian, Costin S. Bildea, Anton A. Kiss, (2014).
Integrated Design and Simulation of Chemical Processes, 2nd
Ed, Elsevier
3. Franklyn W. Kirk, Thomas A. Weedon, Philip Kirk, (2010).
Instrumentation, 5th Ed, American Technical Publishers, Inc
4. Terry Bartelt (2010), Industrial Automated
Systems_Instrumentation and Motion Control-Cengage
Learning
 References
Materials for self-studying:
Process Control lectures by Prof. Thomas E. Marlin
(based on the following textbooks:
Process Control- Designing Processes and Control Systems
for Dynamic Performance by Thomas E. Marlin)

Lectures are provided to students in the Google Drive

containing materials for the subject. Lectures and Interactive
Learning Module are also available from the following
websites
www.pc-education.mcmaster.ca
 Assessment

• Assignment: 30%

•Midterm exam: 30%

•Final exam: 40%

 Introduction

In the chemical industry, the design of a control system is

essential to ensure:
– Good Process Operation
– Process Safety
– Product Quality

– Minimization of Environmental Impact

 Introduction
1. Safety. It is imperative that industrial plants operate safely so
as to promote the well-being of people and equipment within
the plant and in the nearby communities. Thus, plant safety is
always the most important control objective.

2. Environmental Regulations. Industrial plants must comply

with environmental regulations concerning the discharge of
gases, liquids, and solids beyond the plant boundaries.

3. Product Specifications and Production Rate. In order to be

profitable, a plant must make products that meet specifications
concerning product quality and production rate.
 Introduction

4. Economic Plant Operation. It is an economic reality that the

plant operation over long periods of time must be profitable.
Thus, the control objectives must be consistent with the
economic objectives.

5. Stable Plant Operation. The control system should facilitate

smooth, stable plant operation without excessive oscillation in
key process variables. Thus, it is desirable to have smooth,
rapid set-point changes and rapid recovery from plant
disturbances such as changes in feed composition.
 Introduction
What is the purpose of a control system?

“To maintain important process characteristics at desired

targets despite the effects of external perturbations.”

Perturbations Processing
Plant objectives

Market Safety
Economy Make $$$
Climate Environment...
Upsets...

Control
 Introduction

Feedback Control Loop Components

Instrument line
Alarms

Actuator
Controller

Process or
utility stream
Final control Sensing
element element

• The sensing instrument detects the measured variable and sends a signal to a
controller, which signals the actuator to close or open a control valve and
adjust the manipulated variable (usually a flow rate)
 Introduction
Control Valves
• The final control
element is usually a
Actuator control valve
– Exceptions:
electric heaters,
mixers, variable
speed drives
• The actuator is either
a motor or a bellows
Valve that opens or closes
the valve in response
to the signal
 Introduction

Types of Control Loop

Feedback
• Control system measures changes
in a process output and then
adjusts manipulated variable to
return output to set point
• Can be slow if process response
time is long
Feed Forward
• Control system measures
disturbance and adjusts
manipulated variable to
compensate for it so that
controlled output is not affected
• Requires greater knowledge of
system response

Disturbance
Controlle
r
Manipulated Process Controlled
variable outpu
t
 Introduction

Feedback Control

Controll
Error
Function er
Set + signal
generato
point - r

Input Output
Final
Sensing control
element element
Manipulated
Measured variable variable
Process

• Controller computes error between input and set point

and adjusts output based on a control algorithm
 WHY IS CONTROL POSSIBLE?

Control is possible only if the engineer provides

the required equipment during process design.
Part 1: Control equipment

Communication
Final v1
element
T

Sensors A
Computing
CB and interface
for person
v2

Final element
 WHY IS CONTROL POSSIBLE?

Control is possible only if the engineer provides

the required equipment during process design.
Part 2: Process equipment

v1

How do we
T
determine the
reactor
A
volume?
CB

v2
How do we determine
the heat transfer area?
 WHERE IS CONTROL DONE?

Sensors, local
indicators, and
valves in the process

Displays of variables,
calculations, and commands
to valves are in the
centralized control center.
Shows an older-style
control panel
 WHERE IS CONTROL DONE?

Creative Commons License, see

http://en.wikipedia.org/wiki/File:Nuclear_Ship_Savannah_-_Reactor_Control_Room_-_Center_and_Left_Panels.jpg
 WHERE IS CONTROL DONE?

Sensors, local
Central control room indicators, and
valves in the process

Displays of variables,
calculations, and commands
to valves are in the
centralized control center.
Shows a modern,
computer-based control panel
WHERE IS CONTROL DONE?

Photo courtesy of Worsley Alumina and Honeywell

 Introduction
• Process Dynamics:

– Study of the transient behavior of processes

• Process Control

– the use of process dynamics for the improvement of

process operation and performance

or

– the use of process dynamics to alleviate the effect of

undesirable (unstable) process behaviors
 Introduction
What do we mean by process?
A process, P, is an operation that takes an INPUT or a
DISTURBANCE and gives an OUTPUT

u
y
P
d

Information Flow
INPUT: (u) Something that you can manipulate
DISTURBANCE: (d) Something that comes as a result of
some outside phenomenon
OUTPUT: (y) An observable quantity that we want to
regulate
 Introduction
Inputs Output
Tin
wi Process Tm, wo
Q

• Stirred tank heater

M
Tin, wi

T, wo
Q
 Process instrumentation

What Can Be Measured?

(& How Easily)
Easy Difficult
• Temperature • L/L level
• Pressure • pH
• Flow rate • Certain components
• V/L Level – oxygen, sulfur, hydrogen, CO
• Pressure difference • Composition
• Conductivity • Density
• Voidage

• Easy means cheap, reliable instrument with fast response time and
accurate measurement
 Process instrumentation

Temperature Measurement: Thermocouples

• When a junction between dissimilar wires is

heated, an EMF (voltage) is developed, which
can be read by a millivolt transmitter
• The junction is usually housed in a thermowell

Typical

High T
 Process instrumentation

Temperature Measurement: Thermocouples

• Response depends on thermowell location and

heat transfer
– Instrument error is usually ± 3 to 4 F
– There may be additional offsets if the thermowell
is incorrectly located
• Response is fast if located in a flowing stream
• Sometimes thermocouples are also strapped to
walls of vessels
– For high temperature processes or processes with
large exotherms
 Process instrumentation

Pressure Measurement
• Pressure instruments usually measure differential pressure
• If one side is atmospheric pressure then the difference is the process
gauge pressure (usually written barg or psig), not absolute pressure
(bara, psia)
• Several possible methods:
– Mechanical: measure displacement of a bellows or Bourdon tube
– Electrical: attach a strain gauge to a bellows
– Capacitance: diaphragm moves capacitor plate (most common
type)
– Piezoelectric: measures change in semiconductor conductivity
• Pressure measurement devices respond quickly and accurately
• Differential pressure measurement is used as the basis for flow and
level measurement
 Process instrumentation

Flow Rate Measurement

• Place a restriction in the flow path and measure the
resulting pressure drop using a differential pressure
(PD) cell
• If fluid properties are known, results can be calibrated
to flow rates

P P
D D

Orifice Meter Venturi Meter

 Process instrumentation

Level Measurement
Displacement Differential Pressure
• Displacer moves up and down • Measures static head of liquid
with level due to bouyancy using a differential pressure
• Displacer movement is cell
detected via mechanical or • Density of the liquid and vapor
magnetic linkage must be known and constant

Sensor element
P
D
 Process instrumentation
Composition Measurement
• Some components can be detected at low concentrations using sensors
that have been designed to pick up that component
– Examples: O2, CO, H2S, H2
– Component sensors are often sensitive to other components, so check
carefully with vendor to make sure the device is rated for the
application
• More detailed composition can be measured by on-line GC methods
– TCD: thermal conductivity detector
– FID: flame ionization detector
– Response can be slow (5 to 30 minutes), particularly if a long column
is used
• Online NIR can be used in some cases
• Composition is often inferred from other properties
– Boiling point
– Conductivity
 Process instrumentation

A typical process transducer.

Transducers and Transmitters

• The above figure illustrates the general configuration of a
measurement transducer; it typically consists of a sensing
element combined with a driving element (transmitter).
 Process instrumentation
• Transducers for process measurements convert the magnitude of
a process variable (e.g., flow rate, pressure, temperature, level,
or concentration) into a signal that can be sent directly to the
controller.
• The sensing element is required to convert the measured
quantity, that is, the process variable, into some quantity more
appropriate for mechanical or electrical processing within the
transducer.
Standard Instrumentation Signal Levels
• Before 1960, instrumentation in the process industries utilized
pneumatic (air pressure) signals to transmit measurement and
control information almost exclusively.
• These devices make use of mechanical force-balance elements
to generate signals in the range of 3 to 15 psig, an industry
standard.
 Process instrumentation

• Since about 1960, electronic instrumentation has come into

widespread use.

Transmitters

• A transmitter usually converts the sensor output to a signal level

appropriate for input to a controller, such as 4 to 20 mA.
• In addition, most commercial transmitters have an adjustable
input range (or span).
• For example, a temperature transmitter might be adjusted so that
the input range of a platinum resistance element (the sensor) is
50 to 150 °C.
 Process instrumentation
• In this case, the following correspondence is obtained:

Input Output
50 °C 4 mA

150 °C 20 mA

• This instrument (transducer) has a lower limit or zero of 50 °C

and a range or span of 100 °C.
• For the temperature transmitter discussed above, the relation
between transducer output and input is
 Process instrumentation
The gain of the measurement element Km is 0.16 mA/°C. For any
linear instrument:

Final Control Elements

• Every process control loop contains a final control element
(actuator), the device that enables a process variable to be
manipulated.
• For most chemical and petroleum processes, the final control
elements (usually control valves) adjust the flow rates of
materials, and indirectly, the rates of energy transfer to and
from the process.
Process instrumentation
 Process control
What is control?

• To regulate of a process output despite the effect of

disturbances e.g.
– Driving a car
– Controlling the temperature of a chemical reactor
– Reducing vibrations in a flexible structure

• To stabilize unstable processes e.g.

– Riding a bike
– Flight of an airplane
– Operation of a nuclear plant
 Process control
What is a controller?

● A controller is a system designed to

regulate a given process
● Process typically obeys physical and
chemical conservation laws
● Controller obeys laws of mathematics
and logic (sometimes intelligent)
Process
e.g. - Riding a bike (human controller)
- Driving a car
- Automatic control (computer Controlle
programmed to control) r
 Process control
In large scale, continuous processes such as oil refineries:
i.Typically, 1000 – 5000 process variables are measured. Most
of these variables are also controlled.
ii. Examples: flow rate, T, P, liquid level, composition
iii.Sampling rates:
1.Process variables: A few seconds to minutes
2.Quality variables: once per 8 hr shift, daily, or weekly
Manipulated variables
i.We implement “process control” by manipulating process
variables, usually flow rates, examples: feed rate, cooling
rate, product flow rate, etc.
ii.Typically, several thousand manipulated variables in a large
continuous plant
 Process Control Diagrams

• We use block diagrams to represent the flow of information

within the control system
 Process control
• A controlled process is a system which is comprised
of two interacting systems:

e.g. Most controlled systems are feedback controlled

systems

Disturbances Outputs
Process
Observati
Action
on
intervene Controlle monitor
r

The controller is designed to provide regulation of

process outputs in the presence of disturbances
 Process control
What is required for the development of a control system?
1. The unit / system
 Process control
What is required?
1. Process Understanding
• Develop process model, understand process dynamic
behavior
• Required measurements
• Required actuators (final control elements)
• Understand design limitations
2. Process Instrumentation
• Appropriate sensor and actuator selection
• Integration in control system
• Communication and computer architecture
3. Process Control
• Appropriate control strategy
 Process control
• Control is meant to provide regulation of process
outputs about a reference, r, despite inherent
disturbances
d

r + e Controlle u y
Process
- r

Classical Feedback Control System

• The deviation of the plant output, e=(r-y), from its

intended reference is used to make appropriate
adjustments in the plant input, u
 Process control
• Constituents of process control systems: process,
controllers, sensors and actuators

• Controller is a computer (or operator) that performs

the required control actions

e.g. Classical feedback control loop

d
Computer Actuator
r+ e y
C A P
-
Process

Sensor
 Process control
• Driving an automobile

Driver Steering
r + e y
C A P
-
Automobile
M

Visual and tactile measurement

Actual trajectory
Desired trajectory y
r
 Process control

Tin, w

Heater
Q T, w
T
C Thermocouple

Stirred Tank Heater

Tin, w
Controller Heater
TR e y
+
C A P
-
Tank
M

Thermocouple
 Process control
• Measure T, adjust Q

Tin, w
Controller Heater
+ e T
C A P
TR -
Tank
M

Thermocouple

Feedback control

Controller: Q=K(TR-T)+Qnominal
where Qnominal=wC(T-Tin)
 Process control
• Identification of all process
variables
– Inputs (affect process)
– Outputs (result of process)

• Inputs
– Disturbance variables
• Variables affecting process that are
due to external forces
– Manipulated variables
• Things that we can directly affect
 Process control
• Outputs
– Measured (e.g. speed of a car)
– Unmeasured (e.g. acceleration of a car)
– Control variables
• important observable quantities that we want to
regulate
• can be measured or unmeasured (inferential control)

Disturbances Other

Manipulated Process Control

Controller
 Process control

• Inferential control is a control scheme in which the

controlled variable (primary process variable) is not
measured directly but estimated from a secondary
measurement. The secondary measurement variable is
termed as an inferential variable (for example, temperature
of the top tray in a distillation column is an inferential
variable for product quality: composition of the overhead
product stream)
 Control System Development
• In designing a controller, we must
– Define control objectives
– Develop a process model
– Design controller based on model
– Test through simulation
– Implement to real process
– Tune and monitor
d
r e Controlle u y
Process
r

Model

Design
Implementation
 Control System Development

Control development is usually carried Define Objectives

out following these
important steps Develop a process
model

Design controller
based on model

Test by
Simulation
Often an iterative process,
based on performance we
may decide to retune, Implement and Tune
redesign or remodel a
given control system
Monitor
Performance
 Control System Development
• Objectives
– “What are we trying to control?”
• Process modeling
– To obtain process behavior: changes in process outputs
when subjected to changes in process inputs
• Two types of process model: Mechanistic and
empirical
• Controller design
– “How do we use the knowledge of process behavior to
reach our process control objectives?”
– What variables should we measure?
– What variables should we control?
– What are the best manipulated variables?
– What is the best controller structure?
 Control System Development
• Implement and tune the controlled process
– Test by simulation
– incorporate control strategy to the process
hardware
– theory rarely transcends to reality
– tune and re-tune
• Monitor performance
– periodic retuning and redesign is often
necessary based on sensitivity of process or
market demands
– statistical methods can be used to monitor
performance
 Process Modeling
• Motivation:
– Develop understanding of process
• a mathematical hypothesis of process mechanisms
– Match observed process behavior
• useful in design, optimization and control of
process

• Control:
– Interested in description of process dynamics
• Dynamic model is used to predict how process
responds to given input
• Tells us how to react
 Process Modeling

What kind of model do we need?

• Dynamic vs. Steady-state

– Steady-state
• Variables not a function of time
• useful for design calculation
– Dynamic
• Variables are a function of time
• Control requires dynamic model
 Process Modeling

What kind of model do we need?

• Experimental vs Theoretical
– Experimental
• Derived from tests performed on actual process
• Simpler model forms
• Easier to manipulate
– Theoretical
• Application of fundamental laws of physics and
chemistry
• more complex but provides understanding
• Required in design stages
 Process Modeling
6
5
Dynamic vs. Steady-state
Steady-State 1
6
0

5
5

Outpu
Steady-State 2

t
5
0

4
5

4
0 0 5 10 15 20 25 30
0 0 0
Time 0 0 0

Step change in input to observe

● Starting at steady-state, we made a step change
● The system oscillates and finds a new steady-state
● Dynamics describe the transitory behavior
 Empirical vs. Mechanistic models
– Empirical Models
• only local representation of the process
(no extrapolation)
• model only as good as the data
– Mechanistic Models
• Rely on our understanding of a process
• Derived from first principles
• Observing laws of conservation of
– Mass
– Energy
– Momentum
• Useful for simulation and exploration of new operating
conditions
• May contain unknown constants that must be estimated
 Empirical vs. Mechanistic models
Empirical models
▪ Do not rely on underlying mechanisms
▪ Fit specific function to match process
▪ Understanding of related theories may help
 Process Modeling
Linear vs Nonlinear
Linear
▪ basis for most industrial control
▪ simpler model form, easy to identify
▪ easy to design controller
▪ poor prediction, adequate control
Nonlinear
o reality
o more complex and difficult to identify
o need state-of-the-art controller design techniques
to do the job
o better prediction and control
 Process Modeling

In existing processes, we really on

▪ Dynamic models obtained from experiments
▪ Usually of an empirical nature
▪ Linear
In new applications (or difficult problems)
o Focus on mechanistic modeling
o Dynamic models derived from theory
o Nonlinear
 Process Modeling
• General modeling procedure
– Identify modeling objectives
• end use of model (e.g. control)
– Identify fundamental quantities of interest
• Mass, Energy and/or Momentum
– Identify boundaries
– Apply fundamental physical and chemical laws
• Mass, Energy and/or Momentum balances
– Make appropriate assumptions (Simplify)
• ideality (e.g. isothermal, adiabatic, ideal gas, no friction,
incompressible flow, etc,…)
– Write down energy, mass and momentum balances
(develop the model equations)
 Process Modeling

• Modeling procedure
– Check model consistency
• do we have more unknowns than equations
– Determine unknown constants
• e.g. friction coefficients, fluid density and viscosity
– Solve model equations
• typically nonlinear ordinary (or partial) differential
equations
• initial value problems
– Check the validity of the model
• compare to process behavior
 Process Modeling
• For control applications:
– Modeling objectives is to describe process dynamics based
on the laws of conservation of mass, energy and momentum
• The balance equation

Rate of Accumulation Flow Flow

= -
of fundamental quantity In Out

Rate of
+ Production
1. Mass Balance (Stirred tank)
2. Energy Balance (Stirred tank heater)
3. Momentum Balance (Car speed)
 Process Modeling
• Application of a mass balance
Holding Tank
Fin

• Modeling objective: Control of tank liquid level

• Fundamental quantity: Mass
• Assumptions: Incompressible flow
 Process Modeling
Total mass in system = ρV = ρAh
Flow in = ρFin
Flow out = ρF

Total mass at time t = ρAh(t)

Total mass at time t+Δt = ρAh(t+Δt)
Accumulation
ρAh(t+Δt) − ρAh(t) = Δt(ρFin-ρF ),

=> One equation with one unknown (h)

 Process Modeling
Solve equation
Specify initial conditions h(0)=h0 and integrate
 Process Modeling
• Energy balance
M
Tin, w

T, w
Q

Objective: Control tank temperature

Fundamental quantity: Energy
Assumptions: Incompressible flow
Constant hold-up
 Process Modeling
• Under constant hold-up and constant mean pressure (small
pressure changes)
– Balance equation can be written in terms of the enthalpies of
the various streams

– Typically work done on system by external forces is negligible

– Assume that the heat capacities are constant such that

 Process Modeling
After substitution,

Since Tref is fixed and we assume constant r ,Cp

Divide by r CpV

=> One equation with one

unknown (T)
 Process Modeling

Assume F is fixed

where t=V/F is the tank residence time (or time constant)

If F changes with time then the differential equation does not

have a closed form solution.

Product F(t)T(t) makes this differential equation nonlinear.

Solution will need numerical integration.
 Process Modeling

Fo Gravity tank

h
F

L
Objectives: height of liquid in tank
Fundamental quantity: Mass, momentum
Assumptions:
– Outlet flow is driven by head of liquid in the tank
– Incompressible flow
– Plug flow in outlet pipe
– Turbulent flow
 Process Modeling
From mass and momentum balances,

A system of simultaneous ordinary differential equations

results (Linear or nonlinear?)

=> Two equations with two unknowns (h, v)

 Process Modeling
• Mechanistic modeling results in nonlinear sets of ordinary
differential equations
• Solution requires numerical integration
• To get solution, we must first:
– specify all constants (densities, heat capacities, etc, …)
– specify all initial conditions
– specify types of perturbations of the input variables

For the heated stirred tank,

– specify ρ, CP, and V

– specify T(0)
– specify Q(t) and F(t)
 Process Modeling

• Model WITHOUT controllers in place to regulate the

process variables of interest: open-loop process model
• Model WITH controller systems (including sensors
and control valves) to regulate the process variables of
interest: closed-loop process system model
 Dynamic Process Modeling

• Study of control system dynamics

– Observe the time response of a process output in
response to input changes

• Focus on specific inputs

1. Step input signals

2. Ramp input signals
3. Pulse and impulse signals
4. Sinusoidal signals
5. Random (noisy) signals
 Dynamic Process Modeling
1. Step Input Signal: a sustained instantaneous change

e.g. Unit step input introduced at time 1

Input Output
 Dynamic Process Modeling
2. Ramp Input: A sustained constant rate of
change, for example:

Input Output
 Dynamic Process Modeling

3. Pulse: An instantaneous temporary change

e.g. Fast pulse (unit impulse)

Input Output
 Dynamic Process Modeling

3. Pulses:

e.g. Rectangular Pulse

Input Output
 Dynamic Process Modeling

4. Sinusoidal input

Input Output
 Dynamic Process Modeling

5. Random input

Input Output
 Process Control Example

Taken from lecture: Chapter 1 in textbook D. Seborg, T.

Edgar, D. Mellichamp, F. Doyle III (2017). Process
Dynamics and Control, 4th Ed, Wiley
 1.1 Illustrative Example: Blending system
Chapter 1

Notation:
• w1, w2 and w are mass flow rates
• x1, x2 and x are mass fractions of component A
85
 Assumptions:
1. w1 is constant
2. x2 = constant = 1 (stream 2 is pure A)
3. Perfect mixing in the tank
Chapter 1

Control Objective:
Keep x at a desired value (or “set point”) xsp, despite variations in
x1(t). Flow rate w2 can be adjusted for this purpose.

Terminology:
• Controlled variable (or “output variable”): x
• Manipulated variable (or “input variable”): w2
• Disturbance variable (or “load variable”): x1
86
 Design Question. What value of is required to have

Overall balance:
Chapter 1

Component A balance:

(The overbars denote nominal steady-state design values.)

• At the design conditions, . Substitute Eq. 1-2, and

, then solve Eq. 1-2 for :

87
 • Equation 1-3 is the design equation for the blending
system.
• If our assumptions are correct, then this value of will keep
at . But what if conditions change?
Chapter 1

Control Question. Suppose that the inlet concentration x1

changes with time. How can we ensure that x remains at or near
the set point ?
As a specific example, if and , then x > xSP.

Some Possible Control Strategies:

Method 1. Measure x and adjust w2.
• Intuitively, if x is too high, we should reduce w2;
88
 • Manual control vs. automatic control
• Proportional feedback control law,

1. where Kc is called the controller gain.

Chapter 1

2. w2(t) and x(t) denote variables that change with time t.

3. The change in the flow rate, is proportional to
the deviation from the set point, xSP – x(t).

89
 Chapter 1

90
 Method 2. Measure x1 and adjust w2.
•Thus, if x1 is greater than , we would decrease w2 so that

•One approach: Consider Eq. (1-3) and replace and with

Chapter 1

x1(t) and w2(t) to get a control law:

91
 Chapter 1

92
 •Because Eq. (1-3) applies only at steady state, it is not clear
how effective the control law in (1-5) will be for transient
conditions.

Method 3. Measure x1 and x, adjust w2.

Chapter 1

• This approach is a combination of Methods 1 and 2.

Method 4. Use a larger tank.

•If a larger tank is used, fluctuations in x1 will tend to be damped
out due to the larger capacitance of the tank contents.
•However, a larger tank means an increased capital cost.

93
 1.2 Classification of Control Strategies

Table. 1.1 Control Strategies for the Blending System

Method Measured Manipulated Category
Variable Variable
Chapter 1

1 x w2 FBa
2 x1 w2 FF
3 x1 and x w2 FF/FB
4 - - Design change
Feedback Control:
• Distinguishing feature: measure the controlled variable

94
 •It is important to make a distinction between negative feedback
and positive feedback.
Engineering Usage vs. Social Sciences
•Advantages:
Chapter 1

Corrective action is taken regardless of the source of

the disturbance.
Reduces sensitivity of the controlled variable to
disturbances and changes in the process (shown later).
•Disadvantages:
No corrective action occurs until after the disturbance
has upset the process, that is, until after x differs from
xsp.
Very oscillatory responses, or even instability…
95
 Feedforward Control:
Distinguishing feature: measure a disturbance
variable
• Advantage:
Chapter 1

Correct for disturbance before it upsets the process.

• Disadvantage:
Must be able to measure the disturbance.
No corrective action for unmeasured disturbances.

96