Errata: For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)
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Location: page 357, line -6, -8
In the derivation of the Youla parameterization, the process and controller transfer functions should have the numerator and denominator flipped. For the process dynamics, the correct expression is
For the controller dynamics, 
.
(Contributed by S. Livingston, 15 Nov 2010)
