Errata: In Example 9.9, 'gain margin' g m should be 'stability margin' s m

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Location: page 282, line -11, -9

In this example, the stability margin is computed, not that gain margin. The correct text is

... which means that the stability margin is s_m = 1 − k_i / (2ζω₀). To have a desired stability margin of s_m the integral gain should be chosen as

(Contributed by Seoul National University, 7 Dec 2010)