View source for Errata: In Example 8.6, numerator gain term for G ur should be k r instead of k 1

{{errata page
| chapter = Transfer Functions
| page = 247
| line = 2
| contributor = Seoul National University
| date = 7 Dec 2010
| rev = 2.10d
| version = Third printing
| text = On the right hand side of the equation for <math>G_{ur}</math>, the gain term in the numerator should be <math>k_r</math>, the reference gain:
<center><amsmath>
  G_{ur}(s) 
    = \frac{k_r}{1 + K G_{\hat x u}(s)}% \\
    = \frac{{\color{blue} k_r} (s^2 + l_1 s + l_2)}{s^2 + s(\gamma k_1 + k_2 + l_1) + k_1
      + l_2 + k_2 l_1 - \gamma k_2 l_2},
</amsmath></center>
This error also propagates to the expression for <math>G_{yr}</math> at the end of the example, as reported [[Errata: Last equation in Example 8.6 has errors in numerator expressions|here]].
}}