From FBSwiki
This category contains entries for version 2.9d of the text.
Pages in category "Version 2.9d errata"
The following 69 pages are in this category, out of 69 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 Examples 5.5 and 5.6, dynamics in modal form should use z, not x

cont.
 Errata: In Figure 1.11, caption refers to "numbers in circles" that are not present in figure
 Errata: In AFM dynamics, c and k are missing subscript 2
 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: In Example 6.7, the A matrix has an error in the (3,4) entry
 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 computation of error dynamics, u ff argument is missing
 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: Location of the process pole is missing a zero in figure caption for cruise control example

cont.
