Version 3.0j

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This page contains information about version 3.0j of Feedback Systems by Karl J. Åström and Richard M. Murray. Version 3.0hj is a preprint copy of the second edition of the text, which is being sent to the publisher for copyediting and creation of final figures.

Additional info and links:

  • Revision date: 18 August 2019
  • Complete book - this a PDF of the entire book, as a single PDF file (577 pages, 22 MB).
  • Individual chapters: P, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, B

The electronic edition of Feedback Systems is provided with the permission of the publisher, Princeton University Press. This manuscript is for personal use only and may not be reproduced, in whole or in part, without written consent from the publisher.


A full list of errata including page and line numbers is maintained on the errata page.

Errata for this version only:

11-128Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paperClosed
11-1322, 23Original Ziegler-Nichols gains listed after improved tuning rules are incorrectClosed
11-1322, 23Updated tuning rules are incorrect in equation (11.10b)Closed
13-8-9In Example 13.6 (Vinnicombe metric), the formula for conjugate point is missing a minus signClosed
3-3111Demoninator of equation (3.27) should be r cClosed