Goodwin G.C. Graebe S.F. Control system design. 2000

Control Engineering plays a fundamental role in modern technological systems. The
benefits of improved control in industry can be immense. They include improved
product quality, reduced energy consumption, minimization of waste materials, in-
creased safety levels and reduction of pollution.
However, a difficulty with the subject is that some of the more advanced aspects
depend on sophisticated mathematical background. Arguably, mathematical sys-
tems theory is one of the most significant achievements of twentieth century science.
However, its practical impact is only as good as the benefits it can bring. Thus, in
this book, we aim to strike a balance which places strong emphasis on design.
It was the author’s involvement in several industrial control system design
projects that provided part of the motivation to write this book. In a typical
industrial problem, we found ourselves investigating fluid and thermal dynamics,
experiencing the detrimental effects of non-constant PLC scan rates, dealing with
system integration and network communication protocols, building trust with plant
operators and investigating safe bumpless transfer schemes for testing tentative
control designs on potentially dangerous plants. In short, we experienced the day-
to-day excitement, frustration, set-backs and progress in getting advanced control
to contribute to a commercial company’s bottom line. This is not an easy task.
Moreover, success in this type of venture typically depends on the application of a
wide range of multidisciplinary skills. However, it is rewarding and exciting work
for those who do it.