View source for Errata: In Exercise 10.11, the dynamics for x 2 should test for e less than e 0, not e less than 1

{{errata page
| chapter = PID Control
| page = 314
| line = -5
| contributor = S. Han
| date = 30 May 08
| version = First printing
| text = 
The dynamics for <math>x_2</math> implicitly assume that <math>e_0 = 1</math>.  In addition, the notation for the saturation function is nonstandard.  The correct dynamics should be written as
<center><amsmath>
  \frac{dx_1}{dt}=u,\qquad u=\text{sat}_{u_0}(k_pe+k_ix_2),\qquad \frac{dx_2}{dt}=
  \begin{cases}
    e &\text{if } |e|<e_0\\0 &\text{if } |e|\geq e_0.
  \end{cases}
</amsmath></center>
}}