View source for Errata: Proportional gain in Example 11.4 transfer function should be kp

{{errata page
| chapter = Frequency Domain Design
| page = 325
| line = -9
| contributor = R. M. Murray
| date = 30 Nov 08
| version = First printing
| text = 
The controller transfer function in the displayed equation uses <math>k</math> for the proportional gain instead of <math>k_p</math>.  The proper expression is
<center><amsmath>
  C(s)=\frac{k_ds^2 + k_p s + k_i}{s(s^2T_f^2/2+sT_f+1)}.
</amsmath></center>
}}