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This category contains entries for version 2.10c of the text.
Pages in category "Third printing errata"
The following 73 pages are in this category, out of 73 total.
 Errata: At the end of Example 4.6, the roots should have negative real part instead of being positive
 Errata: In Example 4.11, Lyapunov equation entries for f' 1 and f' 2 are switched (solution is correct)
 Errata: Near end of Example 4.11, denominator of f'(z 2e) term should be squared
 Errata: In Example 4.13, inequality should be for x 1 instead of x 2
 Errata: In Figure 4.18, v and V should be v0
 Errata: In Exercise 4.2, the q in term should be positive
 Errata: In Exercise 4.12, some additional assumptions are required for oscillation
 Errata: In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping
 Errata: In Example 5.3, omega d should have terms in the square root reversed
 Errata: In Figure 5.3, state labels are incorrect
 Errata: In Example 5.4, there is a sign error in one of the terms
 Errata: At end of Example 5.5, eigenvalue approximations are incorrect
 Errata: At end of Example 5.5, real part of eigenvalues has incorrect sign
 Errata: Impulse response does not include the direct term in the proper manner
 Errata: In equation (5.26), the u(k) term in the integral should be u(tau)
 Errata: After equation (5.31), rolling friction term disappears if v = 0
 Errata: In Example 5.12, expression nonequilibrium condition has wrong symbols
 Errata: In Exercise 5.8d, the left hand side of the first equation should be x(k+1)
 Errata: In equation (6.17), elements of the output matrix should be in the opposite order
 Errata: In Example 6.5, definitions of z1 and z2 are switched
 Errata: In Example 6.5, reference variable should be L d instead of r
 Errata: In the caption for Figure 6.7, L e=20 should be L e=30
 Errata: For underdamped second order system, eigenvalues are listed incorrectly
 Errata: In Example 6.6 and 7.1, the output equation has 'x' for the state instead of 'c'
 Errata: In Example 6.7, the A matrix has an error in the (3,4) entry

cont.
 Errata: In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i
 Errata: In Example 6.7, the open loop eigenvalues are incorrect
 Errata: In Example 6.8, the state space dynamics have errors in the trigonometric terms
 Errata: Diagonal entries for Q v should be rho
 Errata: In Example 6.8, the state error should be \xi and the input should be F
 Errata: The formula given for the rise time of a second order system in Table 6.1 is only approximate
 Errata: In Example 6.10, the reference gain should be k r = a 1/b
 Errata: In Example 6.10, the system input for the linearized model should be w instead of u
 Errata: Estimator dynamics in Theorem 7.3 are missing B k r r term
 Errata: In expression for B(t), missing parenthesis at end of subscripted expression
 Errata: Output in Kalman decomposition for Example 7.7 is missing state error term
 Errata: In equation (8.6), matrix inverse is computed incorrectly
 Errata: In equation (8.15), second order partial derivative is written incorrectly
 Errata: In Example 8.4, boundary condition and coefficients for psi(x) are incorrect
 Errata: In Example 8.5, leading term in denominator for H \theta F should be cubic in s
 Errata: In Example 8.6, numerator gain term for G ur should be k r instead of k 1
 Errata: Last equation in Example 8.6 has errors in numerator expressions
 Errata: Last equation in Example 8.6 has sign error in the second term
 Errata: In Exercise 8.5, k in the denominator of G(s) should be (k+1)
 Errata: In the paragraph above Example 9.3, G(*) should be L(*)
 Errata: In the caption for Figure 9.7, the transfer function should match equation (9.4)
 Errata: In Example 9.9, 'gain margin' g m should be 'stability margin' s m
 Errata: In equation (9.8), the right hand side should be evaluated at omega0
 Errata: Caption for Figure 10.3b should be "Derivative action"
 Errata: After equation (10.5), low frequency limit bound be 1/T d instead of T d

cont.
 Errata: Closed loop time constant after equation (10.6) has an extra factor of 2
 Errata: The b k i term in the characteristic polynomial has an extra factor of s
 Errata: In equation (10.4), upper limit of the integral should be t, not infinity
 Errata: The expressions for the PID parameters for the op amp implementation are incorrect
 Errata: The PID integral time constant T i for the op amp implementation should be equal to R 2 C 2
 Errata: Dimensions of generalized process transfer function matrix should be 5x3
 Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
 Errata: In Figure 11.3, the label 'y' at the input to P 2 should be removed
 Errata: In expression for I 1, limits have an extra factor of i
 Errata: Contour integral in derivation of Bode's integral formula is analyzed incorrectly
 Errata: In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect
 Errata: For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)
 Errata: In equation (12.13) and the displayed equation above it, T should be T
 Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term
 Errata: In Example 2.1, the state space equations for the balance system are missing a divisor of J t in one of the terms
 Errata: In Figure 2.7, the coefficients are for an update period of one day
 Errata: In Figure 2.9, "solid" and "dashed" should be swapped
 Errata: In Example 2.5, expression for the step response is missing some factors
 Errata: In Example 2.7, q should be replaced by p (three places) and theta (one place)
 Errata: In Exercise 2.4, ''a'' = 0.25 should be ''a'' = 0.75
 Errata: In the online version of the text, there is a formatting error in equation (3.23)
 Errata: In equation (3.26), q 0 is not defined
 Errata: A21 entry for op amp dynamics should have a negative sign
