Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term
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Location: page 366, line -16
The parameter 
in this example is the same as the natural frequency 
in Example 9.9 (the change in notation is needed later in the problem). In addition, the right hand side of the expression for the controller transfer function is missing a factor of :
(Contributed by Seoul National University, 7 Dec 2010)
