| Page
| Line
| Erratum
| Version
|
| 29
| -12
| Missing space after sentence ending with "controlled differential equation"
| 2.10b
|
| 52
| 0
| In Figure 2.16, theta should be O
| 2.10b
|
| 85
| -7
| Equation (3.24) should have c in the numerator instead of c0
| 2.10b
|
| 87
| 3
| In equation (3.27), the state used for the output should be c, not x
| 2.10b
|
| 97
| -11, -4
| Equation (4.4) is labeled incorrectly
| 2.10b
|
| 107
| 12-15
| In Example 4.6, u_d is not computed correctly
| 2.10b
|
| 115
| -5
| In Example 4.11, Taylor series term is missing factor of 1/2
| 2.10b
|
| 117
| 17
| After equation (4.18), solution trajectory should be x(t; a) instead of x(t: a)
| 2.10b
|
| 121
| 5 to 6
| Global Lyapunov stability requires additional conditions
| 2.10b
|
| 152
| -5
| In the complex input u = exp(s t), s should be i omega, not i omega t
| 2.10b
|
| 174
| -3
| In Example 6.3, z_2 should be x_1/omega instead of x_2/omega
| 2.10b
|
| 179
| -3
| Reference to equation (6.17) should be to equation (6.15)
| 2.10b
|
| 216
| -7 to -3
| F R_v F^T term dropped in proof of Theorem 7.4
| 2.10b
|
| 228
| 13
| In Exercise 7.11, output to check is the feedforward signal
| 2.10b
|
| 228
| -12
| In Exercise 7.13, missing equals sign in covariance specification
| 2.10b
|
| 234
| -12
| In displayed equation above equation (8.7), U should be u in the expression for the output
| 2.10b
|
| 237
| 4
| In Figure 8.3, the gain falls off at omega = a R1 k / R2
| 2.10b
|
| 237
| 5
| In Example 8.3, a = 10 rad/s
| 2.10b
|
| 238
| 8
| In Example 8.3, a = 10 rad/s
| 2.10b
|
| 240
| -12
| After equation (8.17), "looses" should be "loses"
| 2.10b
|
| 264
| 16
| In Exercise 8.8, second transfer function should be G_yn instead of G_yd
| 2.10b
|
| 278
| 2
| In proof of Theorem 9.3, "residues of the poles of is" should be "residue for the poles is"
| 2.10b
|
| 351
| 8
| Riemann sphere has radius (not diameter) 1
| 2.10b
|
| 351
| 10
| d(P_1, P_2) is the longest chordal distance, not shortest
| 2.10b
|
| 363
| -18
| In Example 12.8, process zero is at s = -2
| 2.10b
|
| 363
| -17
| In Example 12.8, controller zeros is at s = 3.5
| 2.10b
|
| 364
| -10 to -4
| In Example 12.9, poles are at -a, -p1, -p2
| 2.10b
|
| 367
| -1
| Remove extra word "in"
| 2.10b
|
| 371
| -11
| After equation (12.23), generalized error is z, not w
| 2.10b
|
| Page
| Line
| Erratum
| Version
|
| 15
| 6
| In Figure 1.11, caption refers to "numbers in circles" that are not present in figure
| 2.9d
|
| 19
| -11
| The Wright brothers made their first successful flight in 1903, not 1905
| 2.9d
|
| 25
| -1
| In Exercise 1.1, "loosing" should be "losing"
| 2.9d
|
| 32
| 12
| In discussion on disturbance signals, "can" should be "cannot"
| 2.9d
|
| 62
| -6
| In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b
| 2.9d
|
| 63
| -8
| In Exercise 2.7, reference to inverted pendulum may be confusing
| 2.9d
|
| 80
| 5
| In Equation (3.19), the second term in the window dynamics should contain \rho c
| 2.9d
|
| 91
| -6
| In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"
| 2.9d
|
| 92
| -9
| State space dynamics in Exercise 3.5 are not correct
| 2.9d
|
| 106
| 7
| Solution for x_2j in block diagonal form discussion has sign errors
| 2.9d
|
| 107
| 12-23
| Closed loop dynamics matrix is incorrect in Example 4.6
| 2.9d
|
| 108
| 8
| Missing γ in equation (4.9)
| 2.9d
|
| 110
| 11, 13
| In Example 4.8, the linearized dynamics should contain 3 r_e, not 2 r_e
| 2.9d
|
| 112
| -1
| In Example 4.9, V(x) should be V(z)
| 2.9d
|
| 117
| 3
| Typo in the caption for Figure 4.15
| 2.9d
|
| 126
| -5
| In Exercise 4.1, x_0 should not be subtracted from time-shifted solution
| 2.9d
|
| 126
| -5
| In Exercise 4.1, tau should be defined as t-t_0
| 2.9d
|
| 127
| 5
| In Exercise 4.2, a_e should be a
| 2.9d
|
| 127
| 15
| Sign error in second Lyapunov function in Exercise 4.4
| 2.9d
|
| 128
| 3
| In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced
| 2.9d
|
| 129
| -2
| In Exercise 4.14c, the transformation T and its inverse are swapped
| 2.9d
|
| 131
| -15
| Extraneous text "!linear" in Section 5.1
| 2.9d
|
| 135
| 12
| In equation (5.5), the upper limit of the integral should be t
| 2.9d
|
| 144
| -7
| Example 5.5 includes a damping term not shown in Figure 5.4
| 2.9d
|
| 144
| -4
| In Example 5.5 and 5.6, m1 and m2 should be m
| 2.10a
|
| 145
| 5
| In Examples 5.5 and 5.6, dynamics in modal form should use z, not x
| 2.9d
|
| 146
| -15
| Equation (5.15) is linear in the initial conditions and *input*
| 2.10a
|
| 147
| 0
| The labels for v2 and v3 are misplaced in Figure 5.12
| 2.10a
|
| 148
| -1
| In Example 5.5 and 5.6, m1 and m2 should be m
| 2.10a
|
| 149
| 8
| In Examples 5.5 and 5.6, dynamics in modal form should use z, not x
| 2.9d
|
| 154
| -10
| In Example 5.8, the third nodal equation should be deleted
| 2.10a
|
| 156
| -10
| In AFM dynamics, c and k are missing subscript 2
| 2.9d
|
| 157
| 7
| Missing factor of A in second term of equation (5.26)
| 2.10a
|
| 164
| -11
| Parameter values are missing in Exercise 5.3
| 2.9d
|
| 164
| -3
| Remove part (a) in Exercise 5.6
| 2.9d
|
| 165
| 11
| In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau
| 2.9d
|
| 165
| 16
| In Exercise 5.8, the initial condition is x_0
| 2.9d
|
| 166
| 3
| In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b
| 2.9d
|
| 168
| 12
| The control matrix in the equilibrium set should be 'B' instead of 'b'
| 2.10a
|
| 169
| -12
| In heuristic derivation of reachability test, α is missing subscript
| 2.9d
|
| 180
| -2
| Formula for k_r in equation (6.21) of Theorem 6.3 is incorrect
| 2.9d
|
| 181
| 9
| Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment
| 2.9d
|
| 183
| -7
| In equation (6.22), k omega^2 should be k omega_0^2
| 2.9d
|
| 184
| -10
| In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one
| 2.9d
|
| 185
| 4
| Values of zeta in the caption for Figure 6.8 don't match the figure
| 2.9d
|
| 188
| -2
| Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries
| 2.9d
|
| 189
| 22
| Numerical gains for Example 6.7 are incorrect
| 2.9d
|
| 197
| 3
| In Figure 6.15, reference velocity is v_r = 20 m/s
| 2.10a
|
| 198
| 14
| In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero
| 2.9d
|
| 199
| -1, -2
| In AFM dynamics, c and k are missing subscript 2
| 2.9d
|
| 200
| 9
| In Exercise 6.13, R should be removed and rho should be rho_1
| 2.9d
|
| 206
| 10,11
| In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"
| 2.9d
|
| 209
| 2
| In Example 7.2, the observer gain is given by equation (7.11)
| 2.9d
|
| 214
| -13
| In Example 7.4, hats are missing in displayed equation for u
| 2.10a
|
| 220
| 12
| In computation of error dynamics, u_ff argument is missing
| 2.9d
|
| 220
| -13
| Minus sign is missing in gain scheduled feedback
| 2.9d
|
| 224
| -7
| References to first and second equations are switched in computer implementation discussion
| 2.9d
|
| 240
| -16, -13
| Sign error in equation (8.17) - (sI - A) should be (A - sI)
| 2.9d
|
| 240
| -11
| Explanation of the lack of zeros when B or C is full rank is confusing
| 2.9d
|
| 241
| -4, -6
| In Example 8.5, q should be replaced by theta
| 2.9d
|
| 247
| -1
| In section on pole/zero cancellations, pole and zero are at s = -a
| 2.10a
|
| 248
| 1
| In section on pole/zero cancellations, pole and zero are at s = -a
| 2.10a
|
| 249
| 3
| Location of the process pole is missing a zero in figure caption for cruise control example
| 2.9d
|
| 250
| -16
| Missing parenthesis in exponential for output signal
| 2.10a
|
| 253
| -1
| In description of Bode plot for second order transfer function, 'a' should be omega_0
| 2.10a
|
| 254
| 12
| In description of Bode plot for second order transfer function, 'a' should be omega_0
| 2.10a
|
| 254-5
| -10 to 9
| In Example 8.8, explanation of effects of poles and zeros is incorrect and confusing
| 2.10a
|
| 256
| 1
| Caption for Figure 8.15b is missing an s in the numerator
| 2.9d
|
| 257
| 5
| In Example 8.9, the expression for sigma is not correct
| 2.10a
|
| 272
| 8
| Before Example 9.3, range of theta should be -pi/2 to pi/2
| 2.10a
|
| 277
| 13
| In Theorem 9.3, N should be Z
| 2.9d
|
| 278
| 3
| Missing factor of 2 pi in residue formula for proof of Theorem 9.3
| 2.10a
|
| 288
| -3
| Exponential signal is incorrect on the left-hand side of harmonic expansion equation
| 2.9d
|
| 292
| 18
| In Exercise 9.9, 10/a should be 1/tau
| 2.9d
|
| 307
| -9
| Toward end of Section 10.4, k_i should be k_t
| 2.9d
|
| 308
| 0
| Figure 10.11 is missing filter on derivative term
| 2.9d
|
| 310
| -4
| In Figure 10.13, the indices on the resistors and capacitors are incorrect
| 2.9d
|
| 311
| -3
| Missing ydot after equation (10.16)
| 2.9d
|
| 313
| 8,9
| In Exercise 10.1, the second term in the denominator should be kp not kd
| 2.9d
|
| 314
| -5
| In Exercise 10.11, the dynamics for x_2 should test for e less than e_0, not e less than 1
| 2.9d
|
| 315
| -8
| Extraneous 'LDH' and comment in the text
| 2.9d
|
| 319
| 0
| Arrow labeled u_fd in Figure 11.3 is in the wrong direction
| 2.9d
|
| 319
| 4, -2
| The signal u_ff should be u_fr in the caption for Figure 11.3 and associated text
| 2.9d
|
| 319
| -7
| Extraneous text "!design" in Chapter 12
| 2.9d
|
| 323
| -9
| Maximum sensitivity occurs at frequency omega_ms not omega_sc
| 2.9d
|
| 325
| -9
| Proportional gain in Example 11.4 transfer function should be kp
| 2.9d
|
| 330
| 5
| Denominator of vectored thrust process model should be Js^2
| 2.9d
|
| 336
| -8
| Extraneous text "!design" in Chapter 12
| 2.9d
|
| 345
| 12
| Exercise 11.4 should be Example 11.4 in Exercise 11.9
| 2.9d
|
| 345
| 14
| T_d should be T_f in Exercise 11.9
| 2.9d
|
| 345
| -5
| Numerator and denominator are switched in Exercise 11.11
| 2.9d
|
| 351
| 2,3
| Caption for Figure 12.4 doesn't quite match figure
| 2.9d
|
| 356
| 6, 12
| In Example 12.6, n = -1 should be n = 1
| 2.9d
|
| 363
| -11
| "Assigning a closed loop zero" should be "assigning a closed loop pole"
| 2.9d
|
| 369
| -1
| Extraneous text "!design" in Chapter 12
| 2.9d
|
| 378
| 15,16
| Bennett's books on the history of control were published in 1979 and 1993
| 2.10a
|
