Describing the principles and applications in a simple and lively manner, this practical book considers such issues as the handling of discontinuous control valves, non-linearities and numerical problems. With its many examples and several industrial case studies, including the injection molding machine, waste water treatment and steam consumption in a stripping column, this is invaluable reading for a wide variety of application areas, such as chemicals, food processing, automotive, aerospace, metallurgy or pulp and paper.