Errata: Last equation in Example 8.6 has sign error in the second term

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Location: page 247, line 11

In the last displayed equation of this example, there is a sign error in the term that appears in the denominator. Because the compensator is in the feedback path and there is not a negative gain term in the loop, the correct expression is


(additional errors reported here are also shown). Note that the right hand side of the equation is unchanged; the negative sign in the expression for (at the end of the previous page) cancels out.

(Contributed by A. Tits, 4 Nov 2010)