From FBSwiki
This page contains the list of all errata for the first printing (Version 2.9d) of Feedback Systems.
Pages in category "First printing errata"
The following 83 pages are in this category, out of 83 total.
 Errata: The Wright brothers made their first successful flight in 1903, not 1905
 Errata: In discussion on disturbance signals, "can" should be "cannot"
 Errata: In Exercises 2.4 and 5.9, the (2,1) entry of the dynamics matrix should be abb
 Errata: In Exercise 2.7, reference to inverted pendulum may be confusing
 Errata: In Equation (3.19), the second term in the window dynamics should contain \rho c
 Errata: In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"
 Errata: State space dynamics in Exercise 3.5 are not correct
 Errata: Solution for x 2j in block diagonal form discussion has sign errors
 Errata: Closed loop dynamics matrix is incorrect in Example 4.6
 Errata: Missing γ in equation (4.9)
 Errata: In Example 4.8, the linearized dynamics should contain 3 r e, not 2 r e
 Errata: In Example 4.9, V(x) should be V(z)
 Errata: Typo in the caption for Figure 4.15
 Errata: In Exercise 4.1, tau should be defined as tt 0
 Errata: In Exercise 4.1, x 0 should not be subtracted from timeshifted solution
 Errata: In Exercise 4.2, a e should be a
 Errata: Sign error in second Lyapunov function in Exercise 4.4
 Errata: In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced
 Errata: In Exercise 4.14c, the transformation T and its inverse are swapped
 Errata: Extraneous text "!linear" in Section 5.1
 Errata: In equation (5.5), the upper limit of the integral should be t
 Errata: Example 5.5 includes a damping term not shown in Figure 5.4
 Errata: In Example 5.5 and 5.6, m1 and m2 should be m
 Errata: In Examples 5.5 and 5.6, dynamics in modal form should use z, not x
 Errata: Equation (5.15) is linear in the initial conditions and *input*
 Errata: In Example 5.8, the third nodal equation should be deleted
 Errata: The labels for v2 and v3 are misplaced in Figure 5.12
 Errata: In AFM dynamics, c and k are missing subscript 2

cont.
 Errata: Missing factor of A in second term of equation (5.26)
 Errata: Parameter values are missing in Exercise 5.3
 Errata: Remove part (a) in Exercise 5.6
 Errata: In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau
 Errata: In Exercise 5.8, the initial condition is x 0
 Errata: In heuristic derivation of reachability test, α is missing subscript
 Errata: Formula for k r in equation (6.21) of Theorem 6.3 is incorrect
 Errata: Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment
 Errata: In equation (6.22), k omega^2 should be k omega 0^2
 Errata: In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one
 Errata: Values of zeta in the caption for Figure 6.8 don't match the figure
 Errata: Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries
 Errata: Numerical gains for Example 6.7 are incorrect
 Errata: In Exercise 6.4, need to assume A is invertible and C A^1 B is nonzero
 Errata: In Exercise 6.13, R should be removed and rho should be rho 1
 Errata: In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"
 Errata: In Example 7.2, the observer gain is given by equation (7.11)
 Errata: In Example 7.4, hats are missing in displayed equation for u
 Errata: In computation of error dynamics, u ff argument is missing
 Errata: Minus sign is missing in gain scheduled feedback
 Errata: References to first and second equations are switched in computer implementation discussion
 Errata: Explanation of the lack of zeros when B or C is full rank is confusing
 Errata: Sign error in equation (8.17)  (sI  A) should be (A  sI)
 Errata: In Example 8.5, q should be replaced by theta
 Errata: In section on pole/zero cancellations, pole and zero are at s = a
 Errata: Location of the process pole is missing a zero in figure caption for cruise control example
 Errata: Missing parenthesis in exponential for output signal
 Errata: In description of Bode plot for second order transfer function, 'a' should be omega 0

cont.
 Errata: In Example 8.8, explanation of effects of poles and zeros is incorrect and confusing
 Errata: In Example 8.9, the expression for sigma is not correct
 Errata: Before Example 9.3, range of theta should be pi/2 to pi/2
 Errata: In Theorem 9.3, N should be Z
 Errata: Missing factor of 2 pi in residue formula for proof of Theorem 9.3
 Errata: Exponential signal is incorrect on the lefthand side of harmonic expansion equation
 Errata: In Exercise 9.9, 10/a should be 1/tau
 Errata: Toward end of Section 10.4, k i should be k t
 Errata: Figure 10.11 is missing filter on derivative term
 Errata: In Figure 10.13, the indices on the resistors and capacitors are incorrect
 Errata: Missing ydot after equation (10.16)
 Errata: In Exercise 10.1, the second term in the denominator should be kp not kd
 Errata: In Exercise 10.11, the dynamics for x 2 should test for e less than e 0, not e less than 1
 Errata: Extraneous 'LDH' and comment in the text
 Errata: Arrow labeled u fd in Figure 11.3 is in the wrong direction
 Errata: The signal u ff should be u fr in the caption for Figure 11.3 and associated text
 Errata: Extraneous text "!design" in Chapter 12
 Errata: Maximum sensitivity occurs at frequency omega ms not omega sc
 Errata: Proportional gain in Example 11.4 transfer function should be kp
 Errata: Denominator of vectored thrust process model should be Js^2
 Errata: Exercise 11.4 should be Example 11.4 in Exercise 11.9
 Errata: Numerator and denominator are switched in Exercise 11.11
 Errata: T d should be T f in Exercise 11.9
 Errata: Caption for Figure 12.4 doesn't quite match figure
 Errata: In Example 12.6, n = 1 should be n = 1
 Errata: "Assigning a closed loop zero" should be "assigning a closed loop pole"
 Errata: Bennett's books on the history of control were published in 1979 and 1993
