Process Modeling, Simulation, and Control for Chemical Engineers

analog Bode plots C₁ characteristic equation chemical engineering closed-loop stable closed-loop system complex component continuity composition constant continuity equation contour control loop control system control valve CSTR curve damping coefficient derivative digital computer distillation column disturbance dynamic Euler integration example feed feedback controller feedforward control FIGURE first-order flow rate gives GM(s heat holdups impulse input integration K₁ K₂ Laplace domain Laplace transformation linear liquid log modulus manipulative variable moles Nichols chart Nichols plots nonisothermal CSTR nonlinear Nyquist plot Nyquist stability criterion output P₁ phase angle phase margin PI controller plane poles polynomial proportional controller psig pulse reactant reaction reactor reboiler root locus root locus plot second-order set point shown in Fig signal simulation sketched in Fig solution stability step T₁ tank temperature transfer function transmitter tray unit circle vapor z transform zero