Errata: In Figure 11.3, the label 'y' at the input to P 2 should be removed

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Location: page 319, line 0

In Figure 11.3, there is an extra y in the block diagram, at the input to the block P2(s). The correct diagram is shown below:

Image:feedforward.png

(Contributed by A. Tits, 7 Aug 2010)

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