Process Control: Modeling, Design, and Simulation

17.4. Notation

A	Jacobian	state space—relates states to the state derivatives
B	input matrix	state space—relates inputs to state derivatives
C	output matrix	state space—relates states to outputs
D		state space—direct transmittance from inputs to outputs
e	error	setpoint—measured process output
l	load (disturbance) input
p	pole	roots of the denominator polynomial of gp(s); equal to the eigenvalues of A
r	setpoint	desired value of the output
s	Laplace domain variable	when used in frequency-response techniques, set s = jω
x	state variable
y	output variable	measured output (also known as the controlled variable or process variable)
u	manipulated input	also known as the controller output
z	zero	roots of the numerator polynomial of gp(s) equal to the poles of
gp(s)	process transfer ...