In Section 12.2, the condition for Gyv being small seems to be misstated
|Your name||Chanud Yasanayake|
The text gives the transfer function Gyv in Equation 12.6 and says that it can be made small by "choosing the feedforward transfer function Fr so that PFr-Gm is small". However Fr and Gm don't show up in Equation 12.6. I think it should be "so that 1-P1Fv" is small" instead.