Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
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Location: page 318, line -4 to -1
In Figure 11.2, the controller has input y and output u, resulting in a 1x1 transfer function for 
. The (generalized) process dynamics has outputs y and z = (η,ν,e,ε) and inputs u and w = (d,n). So the proper dimension of the matrix transfer function 
is 5 x 3.
The updated text should read
If we omit the reference input r, the system in Figure 11.1 can be captured by choosing w = (d,n) and z = (η,ν,e,ε). The process transfer function
(Contributed by R. M. Murray, A. Aryanfar, 5 Jul 2011)
