| Page
| Line
| Erratum
| Version
|
| 10
| -1
| In the "Instrumentation" subsection, "axon of the giant squid" should be "giant axon of the squid"
| 2.10c
|
| 37
| 4
| In Example 2.1, the state space equations for the balance system are missing a divisor of J_t in one of the terms
| 2.10c
|
| 40
| 2
| In Figure 2.7, the coefficients are for an update period of one day
| 2.10c
|
| 43
| 12
| In displayed equation for \dot{x_2} = 0, leading minus sign is missing from rightmost expression
| 2.10d
|
| 47
| -6
| In Example 2.5, expression for the step response is missing some factors
| 2.10d
|
| 49
| -8 to -4
| In Example 2.7, q should be replaced by p (three places) and theta (one place)
| 2.10d
|
| 84
| 11
| In the online version of the text, there is a formatting error in equation (3.23)
| 2.10c
|
| 86
| -1
| In equation (3.26), q_0 is not defined
| 2.10c
|
| 100
| -6
| In Example 4.4, second simplifying assumption should be l/J_t = 1 (remove extra factor of m)
| 2.10d
|
| 105
| -3
| On right hand side of displayed equation, x should be x_j
| 2.10c
|
| 107
| -7
| At the end of Example 4.6, the roots should have negative real part instead of being positive
| 2.10d
|
| 110
| -5
| Near end of Example 4.11, denominator of f'(z_2e) term should be squared
| 2.10d
|
| 113
| -14
| In Example 4.10, \dot V = 0 should be treated as negative semidefinite, not positive
| 2.10d
|
| 116
| 3,6
| In Example 4.11, Lyapunov equation entries for f'_1 and f'_2 are switched (solution is correct)
| 2.10d
|
| 121
| 10
| In Example 4.13, inequality should be for x_1 instead of x_2
| 2.10c
|
| 127
| 4
| In Exercise 4.2, the q_in term should be positive
| 2.10d
|
| 132
| 1
| Add a comma after "For other systems" for clarity
| 2.10c
|
| 138
| 14
| In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping
| 2.10d
|
| 140
| -7
| In displayed equation after equation (5.11), exponential is missing parenthesis; should be e(σ + iω)t
| 2.10d
|
| 141
| -4, -8
| In Example 5.4, there is a sign error in one of the terms
| 2.10c
|
| 145
| 8-9
| At end of Example 5.5, eigenvalue approximations are incorrect
| 2.10d
|
| 148
| 2
| In the caption for Figure 5.7, "drive" should be "driven"
| 2.10c
|
| 157
| 7
| In equation (5.26), the u(k) term in the integral should be u(tau)
| 2.10c
|
| 158
| -8
| After equation (5.31), rolling friction term disappears if v = 0
| 2.10c
|
| 161
| 3
| In Example 5.12, expression non-equilibrium condition has wrong symbols
| 2.10d
|
| 163
| 10
| In equation (5.39), Coriolis term should be + C(q, \dot q)
| 2.10d
|
| 165
| -4
| In Exercise 5.8d, the left hand side of the first equation should be x(k+1)
| 2.10c
|
| 179
| -12
| In equation (6.17), elements of the output matrix should be in the opposite order
| 2.10d
|
| 179
| -8
| In displayed equation after equation (6.17), a_l should be a_1
| 2.10d
|
| 182
| 16-20, 25
| In Example 6.5, reference variable should be L_d instead of r
| 2.10d
|
| 182
| 17
| In second line of displayed equation, missing minus sign in front of the gain matrix
| 2.10d
|
| 182
| 21
| In the last paragraph of Example 6.5, r_h should be u
| 2.10d
|
| 184
| 17
| For underdamped second order system, eigenvalues are listed incorrectly
| 2.10d
|
| 186
| 5
| Before Example 6.6, "is Q-value" should be "its Q-value"
| 2.10d
|
| 186
| -3
| In Example 6.6, the output equation has 'x' for the state instead of 'c'
| 2.10c
|
| 189
| 15
| In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i
| 2.10d
|
| 191
| -5
| In Example 6.8, the state space dynamics have errors in the trigonometric terms
| 2.10c
|
| 192
| 4-14
| In Example 6.8, the state error should be \xi and the input should be F
| 2.10d
|
| 192
| -15
| Diagonal entries for Q_v should be rho
| 2.10c
|
| 204
| 6
| In Example 7.1, the output equation has 'x' for the state instead of 'c'
| 2.10c
|
| 206
| 2
| In expression for W_0, (3, 1) entry should be  (remove factor of a1 in second term)
| 2.10c
|
| 207
| 13
| "going zero" → "going to zero"
| 2.10d
|
| 213
| 8
| Estimator dynamics in Theorem 7.3 are missing B k_r r term
| 2.10c
|
| 217
| -6, -5
| In Example 7.5, descriptions for v (disturbance) and w are switched
| 2.10c
|
| 219
| -5
| Change gain matrix L to K for consistency
| 2.10d
|
| 220
| =12
| Above displayed equation for the gain scheduled control law, e should be replaced by z
| 2.10d
|
| 221
| -15
| In Example 7.5, "where were" → "which were"
| 2.10d
|
| 224
| 4
| Output in Kalman decomposition for Example 7.7 is missing state error term
| 2.10c
|
| 225
| -4
| "phenomena knows" → "phenomena known"
| 2.10c
|
| 233
| -8
| In equation (8.6), matrix inverse is computed incorrectly
| 2.10d
|
| 235
| 14
| In displayed equation above equation (8.9), exponential term on right hand side should be est (no minus sign)
| 2.10d
|
| 238
| -9
| In equation (8.15), second order partial derivative is written incorrectly
| 2.10c
|
| 238
| -1
| In Example 8.4, boundary condition and coefficients for psi(x) are incorrect
| 2.10c
|
| 241
| -12
| Before Example 8.5, "related" → "relate"
| 2.10d
|
| 242
| 7
| In Example 8.5, leading term in denominator for H_\theta F should be cubic in s
| 2.10d
|
| 247
| 2
| In Example 8.6, numerator gain term for G_ur should be k_r instead of k_1
| 2.10d
|
| 247
| 11
| Last equation in Example 8.6 has sign error in the second term
| 2.10c
|
| 247
| 11
| Last equation in Example 8.6 has errors in numerator expressions
| 2.10d
|
| 249
| 6
| In Example 8.7, remove  from numerator of expression for 
| 2.10d
|
| 262
| -2
| In Exercise 8.2, text should read "transfer function from u to x" (instead of y)
| 2.10d
|
| 263
| -13
| In Exercise 8.5, k in the denominator of G(s) should be (k+1)
| 2.10c
|
| 264
| 9
| In Exercise 8.6, second term in expression for b_n should be a1CAn − 2B
| 2.10d
|
| 272
| -1
| In Example 9.3, intersection of negative real axis should be at L(i) = -0.5.
| 2.10d
|
| 273
| -5
| In Example 9.4, "that that" → "that"
| 2.10d
|
| 274
| -2
| In right hand expression of last displayed equation of Example 9.4,  in the denominator should be 
| 2.10d
|
| 275
| 3
| In caption for Figure 9.7, "intersections" → "intersects"
| 2.10d
|
| 275
| -5
| In Example 9.5, "it is seems" → "it seems
| 2.10d
|
| 282
| -11, -9
| In Example 9.9, 'gain margin' g_m should be 'stability margin' s_m
| 2.10d
|
| 282
| -7
| In Example 9.9, the gain margin for Figure 9.12 should be gm = 2.5
| 2.10d
|
| 283
| -6
| Missing parenthesis in G(s) = (s + a) / (s − a)
| 2.10d
|
| 284
| -13
| In Example 9.10, transfer function zero is at s = − v0a
| 2.10d
|
| 289
| 7
| In equation (9.14), φn should be φ1
| 2.10d
|
| 296
| 1
| Caption for Figure 10.3b should be "Derivative action"
| 2.10c
|
| 297
| 11
| After equation (10.5), low frequency limit bound be 1/T_d instead of T_d
| 2.10c
|
| 300
| 4
| The b k_i term in the characteristic polynomial has an extra factor of s
| 2.10c
|
| 300
| 7
| In displayed equation above equation (10.7), the final term should be a2 (not squared)
| 2.10d
|
| 302
| 0
| In Figure 10.7b, ωa should be ωc
| 2.10c
|
| 304
| -1
| In Example 10.4, proportional gain k = 3.47 should be kp = 3.47
| 2.10d
|
| 308
| -9
| In Section 10.5, PID derivative filter should have time constant Tf = (kd / kp) / N
| 2.10d
|
| 310
| -4
| The expressions for the PID parameters for the op amp implementation are incorrect
| 2.10d
|
| 318
| -4 to -1
| Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
| 2.10c
|
| 319
| 0
| In Figure 11.3, the label 'y' at the input to P_2 should be removed
| 2.10c
|
| 326
| -1
| In equation (11.11), delete extraneous "[rad]"
| 2.10d
|
| 328
| -11
| In Example 11.5, "τ − 0.25" should be "τ = 0.25"
| 2.10c
|
| 330
| 2
| In the caption for Figure 11.11, Fz should be F1
| 2.10c
|
| 334
| 0
| In Figure 11.13a, curves should be labeled with z instead of b
| 2.10d
|
| 338
| -6
| At end of Example 11.11, "the can be achieved" should be "that can be achieved"
| 2.10d
|
| 339
| -9
| In expression for I_1, limits have an extra factor of i
| 2.10c
|
| 340
| 3-9
| Contour integral in derivation of Bode's integral formula is analyzed incorrectly
| 2.10c
|
| 342
| 13
| In Example 11.12, after displayed equation for C_o(s), frequency where phase lead flattens out should be b_o/10
| 2.10d
|
| 345
| -10
| In Exercise 11.10, controller gain at frequency ω0 should be Cs(iω0)
| 2.10d
|
| 357
| -6, -8
| For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)
| 2.10c
|
| 359
| -6, -4
| In equation (12.13) and the displayed equation above it, T should be -T
| 2.10d
|
| 361
| 13
| Missing end parenthesis at end of sentence
| 2.10c
|
| 363
| 17
| In Example 12.8, repeated np in denominator of transfer function for T(s) should be np(s)nc(s)
| 2.10d
|
| 365
| -13
| The reference to the maximum complementary sensitivity should be to equation (12.7)
| 2.10c
|
| 366
| -16
| In equation (12.16), a is not defined and a factor of a is missing in numerator the last term
| 2.10c
|
| 367
| -8
| In equation (12.18), a factor of a2 is missing from the numerator
| 2.10c
|
| 368
| 7
| In equation (12.21), final term in expression for kd should be − 2zeta / a
| 2.10d
|
| 369
| -12
| Replace "dashed" with "shaded" in the description of Figure 12.16a
| 2.10c
|
| 371
| -4
| Reference to Figure 12.17b should be to Figure 12.17 (right)
| 2.10c
|
| 376
| 2
| In Exercise 12.11, first term in numerator for P(s) should be (s + 3)
| 2.10d
|
| Page
| Line
| Erratum
| Version
|
| 21
| 7
| Stanford one the competition should be Stanford won the competition
| 2.10c
|
| 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
|
| 118
| 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
|
| 157
| -15
| Missing factor of B in displayed equation after equation (5.28)
| 2.10b
|
| 171
| 8
| In equation (6.5), the 4, 3 entry of W_r should be g m^2 l^2 M_t/mu
| 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
|
| 221
| -12, -6
| In Example 7.6, the coefficient in front of thetadot should be v/b
| 2.10b
|
| 222
| 4, 5
| In equation (7.25), the last two endpoint equations are not correct
| 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
|
| 248
| 2
| Formula for Ger should have the ' on dp, not dc
| 2.10b
|
| 248
| 7
| Formula for Ged should not have the ' on dc and is missing a minus sign
| 2.10b
|
| 254
| -7
| Replace ω = ωc with ω = ω0
| 2.10b
|
| 255
| 8
| Replace ω = ωc with ω = ω0
| 2.10b
|
| 256
| 0, 5, 6
| In Figure 8.15 and accompanying text a should be omega0
| 2.10b
|
| 264
| 16
| In Exercise 8.8, second transfer function should be G_yn instead of G_yd
| 2.10b
|
| 276
| -6, -2
| In Example 9.6, the critical gain is k = 0.5 instead of k = 1
| 2.10b
|
| 277
| 4
| In Figure 9.8, the gain of the system is k = 1
| 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
|
| 284
| -10
| In Example 9.10, there is an extra factor of a in the second term of the step response
| 2.10b
|
| 335
| 11, 13
| In Example 11.9, the bound on the gain crossover frequency should be 6.48 rad/sec
| 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
|
| 357
| 0
| In Figure 12.8, the signs of A and B are reversed
| 2.10b
|
| 363
| -18
| In Example 12.8, process zero is at s = -2
| 2.10b
|
| 363
| -17
| In Example 12.8, controller zero 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
|
| 379
| 23
| Desborough is misspelt (p 380, line 1 in online version)
| 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 2.4 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
|
| 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
|
| 155
| 0
| The labels for v2 and v3 are misplaced in Figure 5.12
| 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 2.4 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
| -4, -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
|
