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Course: Advanced process control (module TKP10, PhD-course KP8115)
For overview of the course: see at the end


Advanced process control (module TKP10)


Exam in module "Advanced process control" is Friday 06 December 9-12 (usual place in K4)

The exam (written) will be on Friday from 9-12. 
Please bring calculator and pen/pencil.

You can find the 2011 exam problem here:

Good luck!


Students 2013:
Moen, Kristoffer ; Solvik, Marie Stokke ; Elve, Arne Tobias  ; Omdahl, Nina Helene  ; Karolius, Sigve ; Simonsen, Rannei Solbak ; Didriksen, Ingrid ; Reyes Lua, Adriana  ; Skogstad, Vegard ; Gjertsen, Fredrik ; "Mathisen,Bjørn Tore" ; "Melbø, Henrik Kaald" 

Lectures: Wednesday 11-14 (K4-205)

25 Sep 2013: inventory control and TPM location
02 Oct 2013: Tuning and base control. 
09 Oct 2013: Control structures. Guest lecture by Krister Forsman, Perstorp Co.
16 Oct 2013: MPC and supervisory control. Guest lecture by Stig Strand?

18 Sep. 2013 (2 hours +)
- Repeated exact local method, which will be used on exercise 4
- Went through rest of plantwide1-slides, with emphasis on active constraint regions
- 1530-1700: Vlad on exercise 3 (recycle process)

11 Sep. 2013 (2 hours+):
- Covered exact local method
- Exercise 2 

04 Sep. 2013 (3 hours)
Topics covered today:
   (see also file lecture-cv-selection.docx)
Goal: Optimal economuc operation: min_u J(u,d)
Implement by selecting "self-optimizing" Cv=c = Hy
1. Rules
 - control active constraints
 - Purity constraint on expensive product is always active
 - ideal unconstrained c=Ju
 - do NOT select c = J (cost function or anything which reaches min or max)
    Example: Reactor-recycle process where one fixes V (c=V).

2. Simple rules for c:
(i) Want Fc  = HF small (-> small disturbance sensitivity)
(ii) Want c to be easy to measure and control  -> not composition
(iii)Want G = HGy large (-> small noise sensitivity)

3. Nullspace method


News: 27 Aug. 2013

Yesterday (Monday) I went through the first plantwide control slides, up to the part about steady-state degrees of freedom.

Tomorrow (Wednesday) at 12 we will have an exercise session (Exercise 1) with Vlad. Please meet prepared! 


-News: 07 Aug. 2013

The first lecture and information meeting will be 

    Monday 26 August at 1015-1200 in room K4-205.

There will be an introduction and we will discuss time and place for the rest of the term. 

More information:

You can start with Exercise 1 NOW (Problem 1). It gives you a good introduction!
Questions:  Vlad Minasidis ( (sits in K4-207)

You can also start reading the Chapter on "Economic plantwide control" from the book by Rangaiah and Kariwala (Editors) on Plantwide control. Recent Developments and Applications, Wiley, 2012:


If you have time, you may also start reading the three other papers that start with plantwide.. 
They are quite similar, but there are some differences and this is why i have included all four!

Do not hesitate to ask or send emails.
Welcome to the course!

-Sigurd Skogestad


Course overview:

This is a module (half a normal course) offered to the 5th year students at NTNU. 
It is taught every autumn, starting in late August.

1. Optimal operation (economics) and degrees of freedom
2. What should we control from an economic point of view? (including self-optimizing control)
3. Inventory control, including location of throughput manipulator
4. Base layer control (regulatory layer; stabilizing control)
5. Tuning of PID controllers
6. Multivariable control: Interactions, decentralized control, practical use of MPC



The lectures form the basis for two courses:

1. TKP10  Process Control, Advanced Course. Master specialization module  (3.75 EDU; must be taken together with another 3.75 EDU module to get full course)

2. KP8115 Advanced process control. PhD course (7.5 ECU)


1. TKP10  Process Control, Advanced Course (before 2009: TKP8 = TTK18) 

Prosessregulering, videregående kurs 
Process Control, Advanced Course 
Lecturer: Professor Sigurd Skogestad 
Credits: 3.75 Sp
Time: According to agreement
Examination aids: D Exercises: marks 
Learning outcome : The student should be able to design plantwide control system 
Content: Control structure design for complere chemical plants. 
Selection of controlled variables (self-optimizing control). 
Consistent inventory Control. 
Regulatory control. 
Tuning of PID controllers. 
Multivariable control. 
Decentralized control. 
RGA. Introduction to MPC. Use of dynamic simulators. 
Teaching activities: Lectures, computer simulation. exercises. 
Course material: Copies from scientific papers and books including Chapter 10 in Skoegstad and Postlethwaite, "Multivariable Feedback Control, Wiley, 2010
Exam: Oral


2. Ph.D. course KP 8115 - Advanced process control (7.5 ECU)
Lecturer: Sigurd Skogestad 

The Ph.D. course and the 5th year Master specilization ("emnemodul") have
an initial common part, but the Ph.D. course has additional topics and
a larger emphasis on theory.