Errata: Caption for Figure 12.4 doesn't quite match figure

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Location: page 351, line 2,3

In the caption for Figure 12.4, there are a couple of small errors:

Nyquist curves for $\text{[math]}$ is solid and $\text{[math]}$ is dashed
The point that is projected is $\text{[math]}$ .

The correct caption reads

Geometric interpretation of $\text{[math]}$ . At each frequency, the points on the Nyquist curve for $\text{[math]}$ (solid) and $\text{[math]}$ (dashed) are projected onto a sphere of radius $\text{[math]}$ sitting at the origin of the complex plane. The projection of the point $\text{[math]}$ is shown.

(Contributed by R. M. Murray, 30 Nov 08)

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