# 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 = | + | | 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}= | ||

+ | \begin{cases} | ||

+ | e &\text{if } |e|<e_0\\0 &\text{if } |e|\geq e_0. | ||

+ | \end{cases} | ||

+ | </amsmath></center> | ||

}} | }} |

## Revision as of 23:07, 31 May 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

(Contributed by S. Han, 30 May 08)