Category:Errata

• Errata: "Assigning a closed loop zero" should be "assigning a closed loop pole"

A

• After Example 3.4, difference equation should be difference equations
• After Example 6.8, reference to equation (6.20) should be equation (6.24)
• At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve"

C

• Caption of Figure 4.3 has grammatical error

D

• Demoninator of equation (3.27) should be r c
• Display equation above equation (2.12) has extra set of parentheses

E

• Equation (2.11) has the wrong formula for the transfer function
• Equation 2.11 is not equal to the preceding expression from which it came

I

• In caption for Figure 5.11, "nonlinear systems" should be "nonlinear system"
• In description of Krasovski–Lasalle invariance principle, "only" is repeated
• In discussion of proportional control in Section 2.2, missing v 0 in displayed equation
• In discussion on algebraic loops in Section 3.2, there is an extra "be"
• In discussion on PI control in Section 2.2, incorrect formula for G yv when \omega is small
• In Equation 10.1, there's a typo 0 instead of ')'
• In Equation 7.2, dot is over the subscript
• In Example 13.6 (Vinnicombe metric), the formula for conjugate point is missing a minus sign
• In Example 5.11, extra "a" in description of P
• In Example 6.8, signalsith should be signals with
• In Exercise 7.12, it refers to 'Exercise ??.'
• In Problem 6.8, discrete time system does not progress
• In Section 1.7, there is a typo/missing word near the end of the section
• In Section 1.8 text on paper mills, "production unit" should be "production units"
• In Section 1.8, breaking should be braking
• In Section 10.1, the word "circuit" is misspelled.

I cont.

• In Section 10.1, there is a typo in the oscillation condition equation
• In Section 10.2, part of Figure 10.5 seems to be missing
• In Section 10.3, the caption for Figure 10.11 seems to have a typo
• In Section 10.4, Figure 10.14(b) seems to missing the curve for reverse driving phase
• In Section 10.4, the Figure 10.14 caption has a grammatical error
• In Section 11.1, the word "frequencies" is duplicated
• In Section 11.4, the Figure 11.10 caption has a typo
• In Section 12.1, the additional transfer functions for the F != 1 case seem to be incorrect
• In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrect
• In Section 12.2, the condition for Gyv being small seems to be misstated
• In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3
• In Section 12.2, the sentence about sensitivity to model uncertainty has a grammatical issue
• In Section 12.2, the word "desired" is misspelled
• In Section 12.2, the word "inherently" is misspelled
• In Section 12.2, there is a singular vs. plural error when talking about the control signal
• In Section 12.2, there is a typo in the equation for P^+(s)
• In Section 12.2, there is a typo in the equation for the approximate inverse of P(s)
• In Section 12.3, there is a missing space
• In Section 12.4, the word "limitations" is misspelled
• In Section 12.6, a sentence in Theorem 12.2 is grammatically incorrect
• In Section 12.6, there is a missing comma in the caption of Figure 12.17
• In Section 12.7, there's a grammatical error where it talks about the closed loop system H i
• In Section 12.7, there's a typo in the discussion of inner/outer loop design
• In Section 13.2, the word "point" is duplicated
• In Section 13.2, the word "transfer" is misspelled

I cont.

• In Section 13.2, the word "when" is incorrectly capitalized
• In Section 13.2, there's a grammatical issue in the discussion of system stability
• In Section 13.3, the word "response" is duplicated
• In Section 2.1, referred is misspelled
• In Section 2.1, there is a typo in the discussion of solving for an exponential input
• In Section 2.2, one too many parentheses in an expression for y(t)
• In Section 3.1, there is a typo for plurality
• In Section 3.2, "stiction" should be "friction"
• In Section 3.2, just before Simulation and Analysis subsection, "different" should be "difference"
• In Section 3.2, missing space after a period in description of phase portraits
• In Section 6.3, there is a discrepancy between variables for discrete/continuous
• In Section 9.1 there's a typo where it talks about Laplace transforms
• In Section 9.3 there are equations that use the variable 'n' when it should be 'w'
• In Section 9.3 there's a missing comma
• In Section 9.3 there's a misspelling
• In Section 9.4 there's a sentence with a grammar issue
• In Section 9.4 there's a sentence with an extra word
• In the air-fuel example in Section 1.8, missing reference to Figure 1.16b
• In the initial condition response portion of Section 3.2, there is an extra "show"
• In the paper mill description in Section 1.8, "production unit" should be "production units"

M

• Missing space in the statement of Theorem 5.2

O

• Original Ziegler-Nichols gains listed after improved tuning rules are incorrect

T

• Theorem 5.1 has an extra "all"

U

• Updated tuning rules are incorrect in equation (11.10b)

Z

• Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paper