Difference between revisions of "Errata: In Exercise 10.11, the dynamics for x 2 should test for e less than e 0, not e less than 1"

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{{errata page
 
{{errata page
| chapter =  
+
| chapter = PID Control
| page =  
+
| page = 314
| line =  
+
| line = -5
| contributor = R. M. Murray
+
| contributor = S. Han
| date =  
+
| date = 30 May 08
 
| version = First printing
 
| version = First printing
 
| text =  
 
| 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}=
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  \begin{cases}
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    e &\text{if } |e|<e_0\\0 &\text{if } |e|\geq e_0.
 +
  \end{cases}
 +
</amsmath></center>
 
}}
 
}}

Latest revision as of 00:34, 28 November 2008

Return to Errata page

Location: page 314, line -5

The dynamics for implicitly assume that . In addition, the notation for the saturation function is nonstandard. The correct dynamics should be written as

math

(Contributed by S. Han, 30 May 08)