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

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Location: page 247, line 2

On the right hand side of the equation for , the gain term in the numerator should be , the reference gain:

math

This error also propagates to the expression for at the end of the example, as reported here

(Contributed by Seoul National University, 7 Dec 2010)