Errata: Dimensions of generalized process transfer function matrix should be 5x3
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Location: page 318, line -2
The (generalized) process dynamics has outputs 
and 
and inputs 
and 
. So the proper dimension of the matrix transfer function 
is 5 x 3.
The (generalized) controller dynamics is a 1 x 1 transfer function in this case, since there is no reference input in Figure 11.2 (see related errata).
(Contributed by A. Aryanfar, 26 Nov 2010)
