Errata: In Figure 10.13, the indices on the resistors and capacitors are incorrect

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Location: page 310, line -4

In Figure 10.13, the resistors and capacitors with subscript '0' should have subscript '1' and the resistors and capacitors with subscript '1' should have subscript '2'. The correct figures are shown below.

(Contributed by R. M. Murray, 27 Nov 08)

Fig10 13a.png

Fig10 13b.png

(a) PI controller (b) PID controller