Errata: The signal u ff should be u fr in the caption for Figure 11.3 and associated text
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Location: page 319, line 4, -2
Figure 11.3 uses the notation 
for the output from the feedforward block 
. In the caption (line 4) and in the text describing the figure (line -2), the symbol 
should be replaced with .
(Contributed by R. M. Murray, 30 Nov 08)
