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  1. FAQ: How does a pole at high frequency prevent PID amplification of high frequency noise?‏‎ (03:31, 13 November 2005)
  2. FAQ: How does moving a pole at zero to a small value prevent integrator windup?‏‎ (03:37, 13 November 2005)
  3. FAQ: What happens if a or L are negative in Zeigler-Nichols PID tuning?‏‎ (03:39, 13 November 2005)
  4. FAQ: What are the conditions for stability or instability based on the number of zeroes in the RHP?‏‎ (04:05, 13 November 2005)
  5. FAQ: Under what conditions is the Bode plot misleading versus the Nyquist plot for stability?‏‎ (04:12, 13 November 2005)
  6. FAQ: Is the log in Bode integral formula log 10 or log e ?‏‎ (17:47, 19 November 2005)
  7. FAQ: Isn't the sensitivity function the same as the function used for steady state error? How are they related?‏‎ (17:49, 19 November 2005)
  8. FAQ: If I am controlling a second order delay-less plant, it will never give sustained oscillations with P control. Then how do I find the ultimate gain using the Ziegler Nichols method?‏‎ (17:24, 31 December 2005)
  9. 10 Feb 06 Meeting Notes‏‎ (19:28, 23 March 2006)
  10. 14 Mar 06 Meeting Notes‏‎ (19:31, 23 March 2006)
  11. FAQ: How is 'open loop' a feedback mechanism?‏‎ (06:39, 25 March 2006)
  12. FAQ: What is the definition of a system?‏‎ (07:07, 25 March 2006)
  13. FAQ: How can we tell from the phase plots if the system is oscillating?‏‎ (07:16, 25 March 2006)
  14. FAQ: How do we learn how to translate MATLAB equations into the Simulink diagrams?‏‎ (07:27, 25 March 2006)
  15. FAQ: How do you know when your model is sufficiently complex?‏‎ (07:34, 25 March 2006)
  16. FAQ: What is a state? How does one determine what is a state and what is not?‏‎ (07:36, 25 March 2006)
  17. FAQ: What is the advantage of having a model?‏‎ (07:36, 25 March 2006)
  18. FAQ: In the mass-spring system modelling the car, one of the springs is fixed to a wall. How does that model the car when that "spring" on the car is connected to the chassis?‏‎ (07:36, 25 March 2006)
  19. 13 Jan 06 Meeting Notes‏‎ (16:39, 16 April 2006)
  20. LaTeX Formatting Guidelines‏‎ (16:47, 16 April 2006)
  21. AM05 Pending‏‎ (17:02, 20 April 2006)
  22. FAQ: What is an example of a system with Re(λ)=0 that is not stable? What if Im(λ) is not zero?‏‎ (15:08, 22 April 2006)
  23. FAQ: How do you show that exp(T S inv(T)) = T exp(S) inv(T)?‏‎ (15:20, 22 April 2006)
  24. FAQ: How can I go from a continuous linear ODE to a discrete representation?‏‎ (15:49, 22 April 2006)
  25. FAQ: What is a stochastic system?‏‎ (17:48, 23 April 2006)
  26. FAQ: In a difference equation, how is the state continuous even though the time is discrete?‏‎ (17:49, 23 April 2006)
  27. FAQ: Are the percentages in the definition of rise time, overshoot measured from the final value, or the size of the input change?‏‎ (17:52, 23 April 2006)
  28. Implementation‏‎ (21:32, 18 May 2006)
  29. FAQ: Can we get more information about state space formulation?‏‎ (14:54, 28 May 2006)
  30. AM05 Changes‏‎ (14:59, 28 May 2006)
  31. Action Items‏‎ (23:34, 2 July 2006)
  32. Balance systems‏‎ (02:31, 5 July 2006)
  33. Ball and beam system‏‎ (04:35, 6 July 2006)
  34. Phase locked loop‏‎ (04:36, 6 July 2006)
  35. Applications and Examples‏‎ (15:55, 7 July 2006)
  36. 23 Apr 06 Meeting Notes‏‎ (17:36, 8 July 2006)
  37. Appendices‏‎ (20:51, 24 July 2006)
  38. Predator prey system‏‎ (14:01, 5 September 2006)
  39. FAQ: In the predator prey example, where is the fox birth rate term?‏‎ (14:11, 5 September 2006)
  40. FAQ: Why isn't there a term for the rabbit death rate besides being killed by the foxes?‏‎ (14:12, 5 September 2006)
  41. FAQ: Why is the parameter "a" in the predator-prey problem used as both death of rabbit and birth of foxes?‏‎ (16:10, 8 September 2006)
  42. Asymptotic stability of a nonlinear, damped, mass spring system‏‎ (01:30, 12 September 2006)
  43. Exercise: Everyday examples of feedback systems*‏‎ (16:44, 16 September 2006)
  44. Exercise: Vestibulo-occular reflex*‏‎ (16:45, 16 September 2006)
  45. Exercise: Integral action produces zero steady state error*‏‎ (17:06, 16 September 2006)
  46. Exercise: Human balance system*‏‎ (17:50, 16 September 2006)
  47. Exercise: Exploring the dynamics of the ball and beam system‏‎ (17:51, 16 September 2006)
  48. Exercise: Insect flight control modeling‏‎ (17:52, 16 September 2006)
  49. Exercise: Traffic light simulation‏‎ (17:52, 16 September 2006)
  50. Additional Exercises‏‎ (17:53, 16 September 2006)
  51. Exercise: Exploring the dynamics of rolling mill‏‎ (18:11, 16 September 2006)
  52. Exercise: Modeling and simulation of an exothermic reaction‏‎ (03:32, 29 September 2006)
  53. Exercise: Vehicle powertrain modeling and cruise control‏‎ (03:53, 29 September 2006)
  54. Exercise: Vehicle suspension system modeling and input response‏‎ (04:09, 29 September 2006)
  55. Exercise: Properties of linear discrete time systems‏‎ (04:13, 29 September 2006)
  56. FAQ: If every equilibrium point can be transformed to the origin and then analyzed using a Lyapunov function, how can a system have both stable and unstable equilibrium points?‏‎ (00:57, 6 October 2006)
  57. Exercise: Congestion Control Stability Analysis‏‎ (01:12, 6 October 2006)
  58. Exercise: Moving your finger through a flame without getting burned‏‎ (06:40, 26 December 2006)
  59. FAQ: Who is Lyapunov?‏‎ (15:10, 4 January 2007)
  60. FAQ: Does a stable system have a stable equilibrium point? a limit cycle?‏‎ (15:16, 4 January 2007)
  61. FAQ: How do we choose epsilon in the definition of stability?‏‎ (15:19, 4 January 2007)
  62. FAQ: What is closed form?‏‎ (15:26, 4 January 2007)
  63. FAQ: How do you plot a 3D phase portrait?‏‎ (15:34, 4 January 2007)
  64. Version 2.4a‏‎ (01:43, 8 January 2007)
  65. Exercise: Supply chain simulation study‏‎ (03:51, 25 February 2007)
  66. Traffic light controller‏‎ (19:33, 6 March 2007)
  67. Delta-sigma converter‏‎ (19:34, 6 March 2007)
  68. Writing Roadmap‏‎ (04:39, 23 April 2007)
  69. Version 2.7a‏‎ (15:30, 21 July 2007)
  70. Publication schedule‏‎ (13:55, 26 September 2007)
  71. Version 2.9a‏‎ (15:49, 8 January 2008)
  72. Errata location‏‎ (01:31, 6 February 2008)
  73. FAQ: What types of students have taken courses using this text?‏‎ (17:39, 9 February 2008)
  74. New Dynamic Behavior‏‎ (16:04, 5 April 2008)
  75. Citation information‏‎ (19:07, 5 April 2008)
  76. Information for developers‏‎ (19:12, 5 April 2008)
  77. Errata: Solution for x 2j in block diagonal form discussion has sign errors‏‎ (19:57, 5 April 2008)
  78. Information for authors‏‎ (20:06, 5 April 2008)
  79. HOWTO: Add an errata entry‏‎ (20:30, 5 April 2008)
  80. HOWTO: Add a FAQ entry‏‎ (21:10, 5 April 2008)
  81. FAQ template‏‎ (21:11, 5 April 2008)
  82. FAQ: In Example 5.3, why is the A matrix in the given form?‏‎ (21:30, 5 April 2008)
  83. Frequently Asked Questions‏‎ (21:37, 5 April 2008)
  84. Errata: In Example 12.6, n = -1 should be n = 1‏‎ (21:48, 5 April 2008)
  85. Exercise: Popular articles about control*‏‎ (01:58, 6 April 2008)
  86. Exercise: Exploring the performance of a cruise controller*‏‎ (02:30, 6 April 2008)
  87. FAQ: What does the Nyquist plot look like for a system with poles at the origin?‏‎ (22:41, 6 April 2008)
  88. FAQ: What happens when the Nyquist plot goes exactly through -1?‏‎ (16:21, 17 May 2008)
  89. FAQ: Are there rigorous ways of determining if it's impossible to meet certain/multiple performance specifications?‏‎ (16:50, 17 May 2008)
  90. Errata: Explanation of the lack of zeros when B or C is full rank is confusing‏‎ (17:14, 17 May 2008)
  91. Errata: Location of the process pole is missing a zero in figure caption for cruise control example‏‎ (17:25, 17 May 2008)
  92. Errata: In Example 8.5, q should be replaced by theta‏‎ (17:42, 17 May 2008)
  93. Errata: Maximum sensitivity occurs at frequency omega ms not omega sc‏‎ (18:01, 17 May 2008)
  94. Errata: Arrow labeled u fd in Figure 11.3 is in the wrong direction‏‎ (01:09, 18 May 2008)
  95. Errata: Numerator and denominator are switched in Exercise 11.11‏‎ (15:52, 19 May 2008)
  96. Errata: In Theorem 9.3, N should be Z‏‎ (18:11, 19 May 2008)
  97. Errata: In Exercise 4.1, tau should be defined as t-t 0‏‎ (17:07, 26 May 2008)
  98. Errata: In Exercise 4.2, a e should be a‏‎ (17:11, 26 May 2008)
  99. Errata: Parameter values are missing in Exercise 5.3‏‎ (21:58, 31 May 2008)
  100. Errata: Caption for Figure 8.15b is missing an s in the numerator‏‎ (22:43, 31 May 2008)
  101. Errata: Toward end of Section 10.4, k i should be k t‏‎ (22:48, 31 May 2008)
  102. Errata: In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau‏‎ (23:10, 31 May 2008)
  103. Errata: Exercise 11.4 should be Example 11.4 in Exercise 11.9‏‎ (23:11, 31 May 2008)
  104. Errata: T d should be T f in Exercise 11.9‏‎ (23:11, 31 May 2008)
  105. Root Locus Diagram‏‎ (06:19, 15 June 2008)
  106. FAQ: Why is it better to use a lead controller than a PD controller?‏‎ (16:55, 15 June 2008)
  107. Version 2.7c‏‎ (04:03, 26 June 2008)
  108. Errata: In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced‏‎ (13:16, 8 July 2008)
  109. Errata: Remove part (a) in Exercise 5.6‏‎ (15:58, 11 August 2008)
  110. Exercise: State feedback control of an AFM in contact mode‏‎ (05:26, 12 August 2008)
  111. Errata: In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero‏‎ (00:55, 15 August 2008)
  112. Errata: In Exercise 9.9, 10/a should be 1/tau‏‎ (23:53, 15 August 2008)
  113. Solutions‏‎ (13:24, 19 August 2008)
  114. Solutions Manual‏‎ (14:41, 20 August 2008)
  115. Errata: Sign error in second Lyapunov function in Exercise 4.4‏‎ (20:43, 5 October 2008)
  116. Errata: In Exercise 6.13, R should be removed and rho should be rho 1‏‎ (04:50, 20 October 2008)
  117. Other Time Domain Specifications‏‎ (18:42, 15 November 2008)
  118. Errata: Closed loop dynamics matrix is incorrect in Example 4.6‏‎ (20:28, 15 November 2008)
  119. Errata: In Exercise 5.8, the initial condition is x 0‏‎ (20:57, 15 November 2008)
  120. FAQ: What are the parameters for the Whipple bicycle model?‏‎ (21:32, 15 November 2008)
  121. FAQ: Why do the two terms for the rate of change of the congestion control window size in equation (3.16) have different units?‏‎ (01:43, 16 November 2008)
  122. Errata: Formula for k r in equation (6.21) of Theorem 6.3 is incorrect‏‎ (06:04, 16 November 2008)
  123. Errata: In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one‏‎ (01:05, 23 November 2008)
  124. Errata: Extraneous 'LDH' and comment in the text‏‎ (22:01, 25 November 2008)
  125. Errata: In Figure 10.13, the indices on the resistors and capacitors are incorrect‏‎ (00:33, 28 November 2008)
  126. Errata: In Exercise 10.11, the dynamics for x 2 should test for e less than e 0, not e less than 1‏‎ (00:34, 28 November 2008)
  127. Errata: Numerical gains for Example 6.7 are incorrect‏‎ (18:36, 28 November 2008)
  128. Errata: In Exercise 10.1, the second term in the denominator should be kp not kd‏‎ (18:54, 28 November 2008)
  129. Errata: Values of zeta in the caption for Figure 6.8 don't match the figure‏‎ (19:02, 28 November 2008)
  130. Errata: In equation (6.22), k omega^2 should be k omega 0^2‏‎ (19:06, 28 November 2008)
  131. Errata: Figure 10.11 is missing filter on derivative term‏‎ (02:24, 29 November 2008)
  132. Errata: The signal u ff should be u fr in the caption for Figure 11.3 and associated text‏‎ (01:17, 1 December 2008)
  133. Errata: Proportional gain in Example 11.4 transfer function should be kp‏‎ (01:21, 1 December 2008)
  134. Errata: In Example 4.8, the linearized dynamics should contain 3 r e, not 2 r e‏‎ (01:44, 1 December 2008)
  135. Errata: Denominator of vectored thrust process model should be Js^2‏‎ (01:45, 1 December 2008)
  136. Errata: Caption for Figure 12.4 doesn't quite match figure‏‎ (04:37, 1 December 2008)
  137. Errata: "Assigning a closed loop zero" should be "assigning a closed loop pole"‏‎ (21:59, 2 December 2008)
  138. Popular articles about control‏‎ (22:04, 7 December 2008)
  139. Version N/A‏‎ (17:59, 21 December 2008)
  140. Errata: In Example 4.9, V(x) should be V(z)‏‎ (18:17, 21 December 2008)
  141. Errata: Typo in the caption for Figure 4.15‏‎ (18:18, 21 December 2008)
  142. Errata: In Exercise 4.1, x 0 should not be subtracted from time-shifted solution‏‎ (18:20, 21 December 2008)
  143. Errata: In Exercise 4.14c, the transformation T and its inverse are swapped‏‎ (18:21, 21 December 2008)
  144. Errata: Extraneous text "!linear" in Section 5.1‏‎ (18:23, 21 December 2008)
  145. Errata: Example 5.5 includes a damping term not shown in Figure 5.4‏‎ (18:24, 21 December 2008)
  146. Errata: In Examples 5.5 and 5.6, dynamics in modal form should use z, not x‏‎ (18:26, 21 December 2008)
  147. Errata: In heuristic derivation of reachability test, α is missing subscript‏‎ (18:27, 21 December 2008)
  148. Errata: Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment‏‎ (18:29, 21 December 2008)
  149. Errata: In computation of error dynamics, u ff argument is missing‏‎ (18:33, 21 December 2008)
  150. Errata: References to first and second equations are switched in computer implementation discussion‏‎ (18:34, 21 December 2008)
  151. Errata: Extraneous text "!design" in Chapter 12‏‎ (18:36, 21 December 2008)
  152. Errata: Missing ydot after equation (10.16)‏‎ (18:37, 21 December 2008)
  153. Errata: The Wright brothers made their first successful flight in 1903, not 1905‏‎ (18:42, 21 December 2008)
  154. Errata: In discussion on disturbance signals, "can" should be "cannot"‏‎ (18:42, 21 December 2008)
  155. Errata: In Exercise 2.7, reference to inverted pendulum may be confusing‏‎ (18:43, 21 December 2008)
  156. Errata: In Equation (3.19), the second term in the window dynamics should contain \rho c‏‎ (18:43, 21 December 2008)
  157. Errata: In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"‏‎ (18:43, 21 December 2008)
  158. Errata: State space dynamics in Exercise 3.5 are not correct‏‎ (18:43, 21 December 2008)
  159. Atomic force microscope‏‎ (03:05, 22 December 2008)
  160. Bicycle dynamics‏‎ (05:16, 22 December 2008)
  161. Errata: Equation (5.15) is linear in the initial conditions and *input*‏‎ (05:25, 22 December 2008)
  162. Errata: Missing factor of A in second term of equation (5.26)‏‎ (05:32, 22 December 2008)
  163. Errata: In Example 5.8, the third nodal equation should be deleted‏‎ (05:59, 22 December 2008)
  164. Errata: The labels for v2 and v3 are misplaced in Figure 5.12‏‎ (06:04, 22 December 2008)
  165. Congestion control‏‎ (17:15, 22 December 2008)
  166. Errata: In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"‏‎ (15:53, 23 December 2008)
  167. Errata: Minus sign is missing in gain scheduled feedback‏‎ (17:13, 24 December 2008)
  168. Errata: In section on pole/zero cancellations, pole and zero are at s = -a‏‎ (16:14, 28 December 2008)
  169. Errata: Before Example 9.3, range of theta should be -pi/2 to pi/2‏‎ (18:56, 30 December 2008)
  170. Errata: In Example 8.9, the expression for sigma is not correct‏‎ (19:02, 30 December 2008)
  171. Errata: Missing parenthesis in exponential for output signal‏‎ (19:12, 30 December 2008)
  172. Errata: In Example 8.8, explanation of effects of poles and zeros is incorrect and confusing‏‎ (19:33, 30 December 2008)
  173. Errata: In description of Bode plot for second order transfer function, 'a' should be omega 0‏‎ (19:39, 30 December 2008)
  174. Errata: Bennett's books on the history of control were published in 1979 and 1993‏‎ (23:28, 31 December 2008)
  175. Errata: Missing factor of 2 pi in residue formula for proof of Theorem 9.3‏‎ (18:45, 1 January 2009)
  176. Version 2.9d‏‎ (17:46, 17 January 2009)
  177. Version 2.10a‏‎ (17:46, 17 January 2009)
  178. How do I create a new FAQ page?‏‎ (17:50, 17 January 2009)
  179. Errata: In Example 5.5 and 5.6, m1 and m2 should be m‏‎ (17:51, 26 January 2009)
  180. Errata: In Example 7.2, the observer gain is given by equation (7.11)‏‎ (22:32, 21 February 2009)
  181. Errata: In Example 7.4, hats are missing in displayed equation for u‏‎ (22:36, 21 February 2009)
  182. Richard M. Murray‏‎ (07:03, 22 February 2009)
  183. Karl J. Åström‏‎ (07:04, 22 February 2009)
  184. Errata: After equation (12.23), generalized error is z, not w‏‎ (18:09, 1 March 2009)
  185. Errata: F R v F^T term dropped in proof of Theorem 7.4‏‎ (05:37, 9 March 2009)
  186. Errata: Global Lyapunov stability requires additional conditions‏‎ (16:28, 5 April 2009)
  187. Errata: In Exercise 8.8, second transfer function should be G yn instead of G yd‏‎ (16:40, 5 April 2009)
  188. FAQ: Should the sum in Bode's integral formula be over the real part of the unstable poles?‏‎ (16:48, 5 April 2009)
  189. Errata: In Example 6.3, z 2 should be x 1/omega instead of x 2/omega‏‎ (15:44, 15 April 2009)
  190. Errata: Riemann sphere has radius (not diameter) 1‏‎ (15:58, 12 May 2009)
  191. Errata: In Example 12.8, process zero is at s = -2‏‎ (15:59, 12 May 2009)
  192. Errata: In Example 12.9, poles are at -a, -p1, -p2‏‎ (16:07, 12 May 2009)
  193. Errata: Reference to equation (6.17) should be to equation (6.15)‏‎ (18:01, 2 June 2009)
  194. FAQ: In Section 6.4 (integral action), doesn't the value of z e depend on K?‏‎ (10:31, 4 June 2009)
  195. Errata: In Exercise 7.11, output to check is the feedforward signal‏‎ (17:34, 10 June 2009)
  196. Errata: In Exercise 7.13, missing equals sign in covariance specification‏‎ (17:39, 10 June 2009)
  197. Errata: In Example 8.3, a = 10 rad/s‏‎ (15:05, 12 June 2009)
  198. Errata: In Figure 8.3, the gain falls off at omega = a R1 k / R2‏‎ (15:12, 12 June 2009)
  199. Errata: d(P 1, P 2) is the longest chordal distance, not shortest‏‎ (15:35, 25 June 2009)
  200. FAQ: In the congestion control model, what does it mean to evaluate r i at time t - tau i?‏‎ (15:21, 2 July 2009)
  201. Josephson junction‏‎ (16:43, 23 August 2009)
  202. ASCC 2009 Workshop‏‎ (06:34, 26 August 2009)
  203. Errata: In equation (3.27), the state used for the output should be c, not x‏‎ (00:05, 21 September 2009)
  204. Errata: In the complex input u = exp(s t), s should be i omega, not i omega t‏‎ (00:10, 21 September 2009)
  205. Errata: In Figure 2.16, theta should be O‏‎ (07:36, 7 October 2009)
  206. Errata: In Figure 1.11, caption refers to "numbers in circles" that are not present in figure‏‎ (07:51, 7 October 2009)
  207. OBC: Trajectory Generation and Tracking‏‎ (04:16, 8 October 2009)
  208. OBC: Optimal Control‏‎ (04:22, 8 October 2009)
  209. OBC: Sensor Fusion‏‎ (04:29, 8 October 2009)
  210. OBC: Receding Horizon Control‏‎ (04:36, 8 October 2009)
  211. OBC: Stochastic Systems‏‎ (04:37, 8 October 2009)
  212. OBC: Kalman Filtering‏‎ (04:37, 8 October 2009)
  213. Errata: Equation (3.24) should have c in the numerator instead of c0‏‎ (22:39, 10 October 2009)
  214. Queuing systems‏‎ (23:11, 10 October 2009)
  215. FAQ: Why does the effective service rate f(x) go to zero when x = 0 in Example 2.10 on queuing systems?‏‎ (23:21, 10 October 2009)
  216. Errata: In Example 4.6, u d is not computed correctly‏‎ (18:54, 18 October 2009)
  217. Errata: In Example 4.11, Taylor series term is missing factor of 1/2‏‎ (18:58, 18 October 2009)
  218. OBC:Archived news‏‎ (01:36, 23 December 2009)
  219. NCS:Archived news‏‎ (18:10, 24 December 2009)
  220. Errata: In Example 9.6, the critical gain is k = 0.5 instead of k = 1‏‎ (17:47, 25 December 2009)
  221. Errata: In Example 7.6, the coefficient in front of thetadot should be v/b‏‎ (00:33, 5 January 2010)
  222. Errata: In equation (7.25), the last two endpoint equations are not correct‏‎ (00:38, 5 January 2010)
  223. Errata: In Example 9.10, there is an extra factor of a in the second term of the step response‏‎ (00:42, 5 January 2010)
  224. Errata: In Figure 12.8, the signs of A and B are reversed‏‎ (16:37, 5 January 2010)
  225. Errata: In Example 11.9, the bound on the gain crossover frequency should be 6.48 rad/sec‏‎ (17:09, 5 January 2010)
  226. OBC Errata‏‎ (18:25, 10 January 2010)
  227. Errata: Missing factor of B in displayed equation after equation (5.28)‏‎ (07:35, 13 January 2010)
  228. Supplement: Networked Sensing, Estimation and Control Systems‏‎ (00:37, 23 January 2010)
  229. Errata: Equation (4.4) is labeled incorrectly‏‎ (11:19, 4 February 2010)
  230. Errata: Formula for Ger should have the ' on dp, not dc‏‎ (21:59, 20 February 2010)
  231. Errata: Formula for Ged should not have the ' on dc and is missing a minus sign‏‎ (22:03, 20 February 2010)
  232. Errata: In Figure 8.15 and accompanying text a should be omega0‏‎ (22:21, 20 February 2010)
  233. Errata: In equation (6.5), the 4, 3 entry of W r should be g m^2 l^2 M t/mu‏‎ (05:07, 23 February 2010)
  234. Errata: In Example 12.8, controller zero is at s = 3.5‏‎ (05:48, 23 February 2010)
  235. Version 2.10b‏‎ (15:43, 4 March 2010)
  236. Errata: In Figure 2.7, the coefficients are for an update period of one day‏‎ (17:27, 4 March 2010)
  237. Errata: In Example 5.4, there is a sign error in one of the terms‏‎ (20:52, 17 April 2010)
  238. Version 2.10c‏‎ (20:02, 18 April 2010)
  239. Information for instructors‏‎ (17:55, 30 April 2010)
  240. Errata: Estimator dynamics in Theorem 7.3 are missing B k r r term‏‎ (20:32, 18 May 2010)
  241. Errata: In Exercise 8.5, k in the denominator of G(s) should be (k+1)‏‎ (20:38, 21 May 2010)
  242. Errata: In Example 6.8, the state space dynamics have errors in the trigonometric terms‏‎ (00:38, 10 June 2010)
  243. Caltech CDS 101/110‏‎ (17:56, 17 June 2010)
  244. FAQ: Can a control system include a human operator as a component?‏‎ (18:35, 17 June 2010)
  245. FAQ: How are stability, performance and robustness different?‏‎ (18:35, 17 June 2010)
  246. Lecture: Introduction to Control‏‎ (18:37, 17 June 2010)
  247. FAQ: What does closed loop mean?‏‎ (18:38, 17 June 2010)
  248. Lecture Index‏‎ (19:36, 17 June 2010)
  249. Errata: In equation (3.26), q 0 is not defined‏‎ (18:44, 28 August 2010)
  250. FAQ: What do the double vertical bars mean at the end of Section 4.1?‏‎ (19:03, 28 August 2010)
  251. Errata: In equation (5.26), the u(k) term in the integral should be u(tau)‏‎ (19:11, 28 August 2010)
  252. Errata: Diagonal entries for Q v should be rho‏‎ (19:16, 28 August 2010)
  253. Errata: After equation (10.5), low frequency limit bound be 1/T d instead of T d‏‎ (21:11, 28 August 2010)
  254. Errata: The b k i term in the characteristic polynomial has an extra factor of s‏‎ (21:18, 28 August 2010)
  255. Errata: The PID integral time constant T i for the op amp implementation should be equal to R 2 C 2‏‎ (22:50, 28 August 2010)
  256. Errata: In Figure 11.3, the label 'y' at the input to P 2 should be removed‏‎ (23:32, 28 August 2010)
  257. Errata: In Example 2.1, the state space equations for the balance system are missing a divisor of J t in one of the terms‏‎ (01:21, 7 September 2010)
  258. Errata: In the online version of the text, there is a formatting error in equation (3.23)‏‎ (02:04, 29 October 2010)
  259. Errata: After equation (5.31), rolling friction term disappears if v = 0‏‎ (16:30, 31 October 2010)
  260. Errata: In Exercise 5.8d, the left hand side of the first equation should be x(k+1)‏‎ (17:08, 31 October 2010)
  261. Errata: For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)‏‎ (21:25, 21 December 2010)
  262. Errata: In Exercises 2.4 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b‏‎ (21:28, 21 December 2010)
  263. Errata: Missing γ in equation (4.9)‏‎ (21:30, 21 December 2010)
  264. Errata: In AFM dynamics, c and k are missing subscript 2‏‎ (21:33, 21 December 2010)
  265. Errata: Sign error in equation (8.17) - (sI - A) should be (A - sI)‏‎ (21:34, 21 December 2010)
  266. Errata: Exponential signal is incorrect on the left-hand side of harmonic expansion equation‏‎ (21:37, 21 December 2010)
  267. Errata: Output in Kalman decomposition for Example 7.7 is missing state error term‏‎ (21:40, 21 December 2010)
  268. Errata: In expression for I 1, limits have an extra factor of i‏‎ (21:42, 21 December 2010)
  269. Course syllabus suggestions‏‎ (14:37, 13 January 2011)
  270. Errata: In Example 4.13, inequality should be for x 1 instead of x 2‏‎ (17:41, 4 July 2011)
  271. Errata: In equation (8.15), second order partial derivative is written incorrectly‏‎ (14:14, 5 July 2011)
  272. Errata: In Example 8.4, boundary condition and coefficients for psi(x) are incorrect‏‎ (15:57, 5 July 2011)
  273. Errata: Dimensions of generalized process transfer function matrix should be 5x3‏‎ (05:29, 6 July 2011)
  274. Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly‏‎ (05:54, 6 July 2011)
  275. Errata: Caption for Figure 10.3b should be "Derivative action"‏‎ (14:18, 6 July 2011)
  276. Errata: Contour integral in derivation of Bode's integral formula is analyzed incorrectly‏‎ (15:18, 8 July 2011)
  277. Version 2.10d‏‎ (16:08, 19 July 2011)
  278. Errata: In Example 5.12, expression non-equilibrium condition has wrong symbols‏‎ (23:46, 2 August 2011)
  279. No errata reported in this version of the text‏‎ (23:46, 2 August 2011)
  280. Errata: In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping‏‎ (23:55, 2 August 2011)
  281. Errata: For underdamped second order system, eigenvalues are listed incorrectly‏‎ (00:53, 3 August 2011)
  282. Errata: In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i‏‎ (00:58, 3 August 2011)
  283. Errata: In Example 6.8, the state error should be \xi and the input should be F‏‎ (01:12, 3 August 2011)
  284. Errata: In Example 6.6 and 7.1, the output equation has 'x' for the state instead of 'c'‏‎ (01:20, 3 August 2011)
  285. Errata: In Example 2.5, expression for the step response is missing some factors‏‎ (00:48, 26 August 2011)
  286. Errata: In Example 2.7, q should be replaced by p (three places) and theta (one place)‏‎ (00:59, 26 August 2011)
  287. Errata: At the end of Example 4.6, the roots should have negative real part instead of being positive‏‎ (13:31, 26 August 2011)
  288. Errata: Near end of Example 4.11, denominator of f'(z 2e) term should be squared‏‎ (07:19, 27 August 2011)
  289. Errata: In Exercise 4.2, the q in term should be positive‏‎ (07:41, 27 August 2011)
  290. Errata: In Example 6.5, reference variable should be L d instead of r‏‎ (07:51, 27 August 2011)
  291. Errata: In equation (6.17), elements of the output matrix should be in the opposite order‏‎ (08:03, 27 August 2011)
  292. Errata: In equation (8.6), matrix inverse is computed incorrectly‏‎ (08:25, 27 August 2011)
  293. Errata: In Example 8.5, leading term in denominator for H \theta F should be cubic in s‏‎ (08:52, 27 August 2011)
  294. Errata: Last equation in Example 8.6 has errors in numerator expressions‏‎ (18:08, 28 August 2011)
  295. Errata: Last equation in Example 8.6 has sign error in the second term‏‎ (18:09, 28 August 2011)
  296. Errata: In Example 8.6, numerator gain term for G ur should be k r instead of k 1‏‎ (18:09, 28 August 2011)
  297. Errata: In Example 9.9, 'gain margin' g m should be 'stability margin' s m‏‎ (18:41, 28 August 2011)
  298. Errata: The expressions for the PID parameters for the op amp implementation are incorrect‏‎ (19:06, 28 August 2011)
  299. Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term‏‎ (06:48, 29 August 2011)
  300. Errata: In equation (12.13) and the displayed equation above it, T should be -T‏‎ (07:10, 29 August 2011)
  301. Errata: In Example 4.11, Lyapunov equation entries for f' 1 and f' 2 are switched (solution is correct)‏‎ (18:19, 29 August 2011)
  302. Version 2.10e‏‎ (19:28, 29 August 2011)
  303. Index‏‎ (22:15, 9 August 2012)
  304. Errata: In Exercise 2.4, ''a'' = 0.25 should be ''a'' = 0.75‏‎ (18:17, 10 August 2012)
  305. Errata: In Figure 2.9, "solid" and "dashed" should be swapped‏‎ (18:38, 10 August 2012)
  306. Errata: In Exercise 4.12, some additional assumptions are required for oscillation‏‎ (23:44, 10 August 2012)
  307. Errata: At end of Example 5.5, eigenvalue approximations are incorrect‏‎ (15:54, 27 August 2012)
  308. Errata: At end of Example 5.5, real part of eigenvalues has incorrect sign‏‎ (15:54, 27 August 2012)
  309. Errata: In Figure 5.3, state labels are incorrect‏‎ (16:10, 27 August 2012)
  310. Errata: In equation (5.5), the upper limit of the integral should be t‏‎ (17:18, 1 September 2012)
  311. Version 2.11a‏‎ (17:44, 1 September 2012)
  312. Errata: The formula given for the rise time of a second order system in Table 6.1 is only approximate‏‎ (17:08, 6 September 2012)
  313. Errata: In the caption for Figure 6.7, L e=20 should be L e=30‏‎ (17:12, 6 September 2012)
  314. Errata: In Example 6.5, definitions of z1 and z2 are switched‏‎ (17:18, 6 September 2012)
  315. Errata: In Example 6.10, the system input for the linearized model should be w instead of u‏‎ (17:34, 6 September 2012)
  316. Errata: In expression for B(t), missing parenthesis at end of subscripted expression‏‎ (17:50, 10 September 2012)
  317. FAQ: In the displayed equation after equation (8.3), how can you set x(0), a constant, to a function of s?‏‎ (18:17, 10 September 2012)
  318. FAQ: Why is the exponential response complex valued? Shouldn't the inputs and outputs of a linear system always be real-valued?‏‎ (18:33, 10 September 2012)
  319. Errata: In the paragraph above Example 9.3, G(*) should be L(*)‏‎ (00:42, 29 September 2012)
  320. Errata: In the caption for Figure 9.7, the transfer function should match equation (9.4)‏‎ (00:51, 29 September 2012)
  321. Errata: Closed loop time constant after equation (10.6) has an extra factor of 2‏‎ (03:57, 29 September 2012)
  322. Errata: In equation (10.4), upper limit of the integral should be t, not infinity‏‎ (04:24, 29 September 2012)
  323. Version 2.11b‏‎ (06:06, 29 September 2012)
  324. Preface‏‎ (06:12, 29 September 2012)
  325. Archived news‏‎ (06:40, 29 September 2012)
  326. Errata: In equation (9.8), the right hand side should be evaluated at omega0‏‎ (21:03, 30 September 2012)
  327. Lecture: System Modeling‏‎ (05:46, 1 October 2012)
  328. Lecture: Linear Systems‏‎ (05:47, 1 October 2012)
  329. Lecture: ODEs‏‎ (05:48, 1 October 2012)
  330. Lecture: Dynamic Behavior‏‎ (05:50, 1 October 2012)
  331. Lecture: State Feedback‏‎ (05:52, 1 October 2012)
  332. Lecture: Output Feedback‏‎ (05:52, 1 October 2012)
  333. Lecture: Transfer Functions‏‎ (05:52, 1 October 2012)
  334. Lecture: Loop Analysis‏‎ (05:53, 1 October 2012)
  335. Lecture: PID Control‏‎ (05:53, 1 October 2012)
  336. Lecture: PID Tools‏‎ (05:54, 1 October 2012)
  337. Lecture: Loop Shaping‏‎ (05:54, 1 October 2012)
  338. Lecture: Limits of Performance‏‎ (05:54, 1 October 2012)
  339. Lecture: Robust Performance‏‎ (05:55, 1 October 2012)
  340. Lecture: Introduction‏‎ (05:58, 1 October 2012)
  341. FAQ: In Exercise 2.10, what do the variables phi represent?‏‎ (17:02, 1 October 2012)
  342. Compartment model‏‎ (02:31, 9 October 2012)
  343. FAQ: In the two compartment model, what does q0 represent?‏‎ (02:36, 9 October 2012)
  344. FAQ: What is steady state error?‏‎ (19:37, 13 October 2012)
  345. Predator prey‏‎ (06:11, 23 October 2012)
  346. MATLAB subdirectory help‏‎ (00:17, 28 October 2012)
  347. Output Feedback‏‎ (02:50, 29 October 2012)
  348. Linear Systems‏‎ (22:45, 4 November 2012)
  349. Transfer Functions‏‎ (00:49, 5 November 2012)
  350. Frequency Domain Analysis‏‎ (23:03, 11 November 2012)
  351. State Feedback‏‎ (04:06, 19 November 2012)
  352. No frequently asked questions for this chapter‏‎ (04:09, 19 November 2012)
  353. PID Control‏‎ (04:23, 19 November 2012)
  354. Frequency Domain Design‏‎ (21:27, 23 November 2012)
  355. Robust Performance‏‎ (21:36, 23 November 2012)
  356. Dynamic Behavior‏‎ (21:40, 23 November 2012)
  357. System Modeling‏‎ (21:40, 23 November 2012)
  358. Introduction‏‎ (21:40, 23 November 2012)
  359. Errata: In Example 6.7, the open loop eigenvalues are incorrect‏‎ (01:13, 17 December 2012)
  360. Videos‏‎ (15:57, 9 January 2013)
  361. E-book‏‎ (07:14, 18 January 2013)
  362. FAQ: What does it mean for a non-square matrix to be full rank?‏‎ (04:38, 29 January 2013)
  363. Vectored thrust aircraft‏‎ (01:55, 25 November 2013)
  364. Errata: In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect‏‎ (02:11, 25 November 2013)
  365. BFS:Archived news‏‎ (02:30, 7 January 2014)
  366. Supplement: Biomolecular Feedback Systems‏‎ (22:01, 14 September 2014)
  367. Cruise control‏‎ (03:13, 14 October 2014)
  368. Errata: In Example 5.3, omega d should have terms in the square root reversed‏‎ (00:01, 18 January 2015)
  369. Software‏‎ (15:18, 1 May 2016)
  370. Sandbox‏‎ (01:19, 8 May 2016)
  371. Bibliography‏‎ (15:53, 27 August 2016)
  372. Errata: In Example 6.10, the reference gain should be k r = a 1/b‏‎ (15:59, 27 August 2016)
  373. Errata: Impulse response does not include the direct term in the proper manner‏‎ (12:23, 28 August 2016)
  374. No errata reported in most recent version of this chapter‏‎ (12:25, 28 August 2016)
  375. FAQ: In equation (6.23), shouldn't the B matrix have omega 0^2?‏‎ (13:04, 28 August 2016)
  376. Errata: Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries‏‎ (13:14, 28 August 2016)
  377. Errata: In Example 6.7, the A matrix has an error in the (3,4) entry‏‎ (13:30, 28 August 2016)
  378. Examples‏‎ (11:18, 2 September 2016)
  379. Additional Examples‏‎ (11:56, 2 September 2016)
  380. First Edition‏‎ (22:13, 23 September 2016)
  381. Second Edition:Archived news‏‎ (22:45, 23 September 2016)
  382. Release Notes‏‎ (17:18, 16 October 2016)
  383. 3.0h‏‎ (17:28, 16 October 2016)
  384. Second edition, version 3.0h posted‏‎ (23:45, 18 November 2016)
  385. In Example 6.8, signalsith should be signals with‏‎ (19:51, 21 November 2016)
  386. In Section 3.2, "stiction" should be "friction"‏‎ (20:27, 21 November 2016)
  387. In discussion on algebraic loops in Section 3.2, there is an extra "be"‏‎ (20:45, 21 November 2016)
  388. In Section 3.2, missing space after a period in description of phase portraits‏‎ (03:41, 22 November 2016)
  389. In Section 1.8 text on paper mills, "production unit" should be "production units"‏‎ (19:00, 31 January 2017)
  390. In Section 1.8, breaking should be braking‏‎ (19:01, 31 January 2017)
  391. In Section 1.7, there is a typo/missing word near the end of the section‏‎ (19:01, 31 January 2017)
  392. In the air-fuel example in Section 1.8, missing reference to Figure 1.16b‏‎ (19:01, 31 January 2017)
  393. In the paper mill description in Section 1.8, "production unit" should be "production units"‏‎ (19:02, 31 January 2017)
  394. In discussion on PI control in Section 2.2, incorrect formula for G yv when \omega is small‏‎ (19:19, 31 January 2017)
  395. In discussion of proportional control in Section 2.2, missing v 0 in displayed equation‏‎ (19:23, 31 January 2017)
  396. In Section 2.1, there is a typo in the discussion of solving for an exponential input‏‎ (19:25, 31 January 2017)
  397. In Section 2.1, referred is misspelled‏‎ (19:26, 31 January 2017)
  398. Equation 2.11 is not equal to the preceding expression from which it came‏‎ (19:31, 31 January 2017)
  399. Equation (2.11) has the wrong formula for the transfer function‏‎ (19:31, 31 January 2017)
  400. In Section 2.2, one too many parentheses in an expression for y(t)‏‎ (19:35, 31 January 2017)
  401. Display equation above equation (2.12) has extra set of parentheses‏‎ (19:35, 31 January 2017)
  402. In Section 3.1, there is a typo for plurality‏‎ (19:43, 31 January 2017)
  403. After Example 3.4, difference equation should be difference equations‏‎ (19:45, 31 January 2017)
  404. In Section 3.2, just before Simulation and Analysis subsection, "different" should be "difference"‏‎ (19:46, 31 January 2017)
  405. Caption of Figure 4.3 has grammatical error‏‎ (19:50, 31 January 2017)
  406. Theorem 5.1 has an extra "all"‏‎ (19:51, 31 January 2017)
  407. In caption for Figure 5.11, "nonlinear systems" should be "nonlinear system"‏‎ (19:53, 31 January 2017)
  408. Missing space in the statement of Theorem 5.2‏‎ (19:56, 31 January 2017)
  409. In Example 5.11, extra "a" in description of P‏‎ (19:57, 31 January 2017)
  410. In description of Krasovski–Lasalle invariance principle, "only" is repeated‏‎ (19:58, 31 January 2017)
  411. At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve"‏‎ (19:58, 31 January 2017)
  412. After Example 6.8, reference to equation (6.20) should be equation (6.24)‏‎ (20:45, 24 March 2017)
  413. In Section 6.3, there is a discrepancy between variables for discrete/continuous‏‎ (20:49, 24 March 2017)
  414. In Problem 6.8, discrete time system does not progress‏‎ (20:51, 24 March 2017)
  415. In the initial condition response portion of Section 3.2, there is an extra "show"‏‎ (20:52, 24 March 2017)
  416. In Equation 7.2, dot is over the subscript‏‎ (20:56, 24 March 2017)
  417. In Exercise 7.12, it refers to 'Exercise ??.'‏‎ (20:58, 24 March 2017)
  418. In Section 9.3 there's a misspelling‏‎ (21:01, 24 March 2017)
  419. In Section 9.3 there are equations that use the variable 'n' when it should be 'w'‏‎ (21:05, 24 March 2017)
  420. In Section 9.3 there's a missing comma‏‎ (14:36, 25 March 2017)
  421. In Section 9.1 there's a typo where it talks about Laplace transforms‏‎ (14:37, 25 March 2017)
  422. In Section 9.4 there's a sentence with a grammar issue‏‎ (14:38, 25 March 2017)
  423. In Section 9.4 there's a sentence with an extra word‏‎ (14:40, 25 March 2017)
  424. In Section 10.3, the caption for Figure 10.11 seems to have a typo‏‎ (14:44, 25 March 2017)
  425. In Section 10.4, Figure 10.14(b) seems to missing the curve for reverse driving phase‏‎ (14:54, 25 March 2017)
  426. In Section 10.4, the Figure 10.14 caption has a grammatical error‏‎ (14:54, 25 March 2017)
  427. In Section 10.1, there is a typo in the oscillation condition equation‏‎ (14:57, 25 March 2017)
  428. In Equation 10.1, there's a typo 0 instead of ')'‏‎ (15:00, 25 March 2017)
  429. In Section 10.1, the word "circuit" is misspelled.‏‎ (15:03, 25 March 2017)
  430. In Section 10.2, part of Figure 10.5 seems to be missing‏‎ (15:08, 25 March 2017)
  431. In Section 11.4, the Figure 11.10 caption has a typo‏‎ (15:13, 25 March 2017)
  432. In Section 11.1, the word "frequencies" is duplicated‏‎ (15:13, 25 March 2017)
  433. In Section 12.2, there is a singular vs. plural error when talking about the control signal‏‎ (15:18, 25 March 2017)
  434. In Section 12.2, there is a typo in the equation for P^+(s)‏‎ (15:19, 25 March 2017)
  435. In Section 12.2, the sentence about sensitivity to model uncertainty has a grammatical issue‏‎ (15:21, 25 March 2017)
  436. In Section 12.2, there is a typo in the equation for the approximate inverse of P(s)‏‎ (15:25, 25 March 2017)
  437. In Section 12.2, the word "inherently" is misspelled‏‎ (15:25, 25 March 2017)
  438. In Section 12.3, there is a missing space‏‎ (15:27, 25 March 2017)
  439. In Section 12.4, the word "limitations" is misspelled‏‎ (15:27, 25 March 2017)
  440. In Section 12.6, there is a missing comma in the caption of Figure 12.17‏‎ (15:29, 25 March 2017)
  441. In Section 12.6, a sentence in Theorem 12.2 is grammatically incorrect‏‎ (17:08, 25 March 2017)
  442. In Section 12.7, there's a typo in the discussion of inner/outer loop design‏‎ (17:09, 25 March 2017)
  443. In Section 12.7, there's a grammatical error where it talks about the closed loop system H i‏‎ (17:10, 25 March 2017)
  444. In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrect‏‎ (17:11, 25 March 2017)
  445. In Section 12.2, the word "desired" is misspelled‏‎ (17:12, 25 March 2017)
  446. In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3‏‎ (17:16, 25 March 2017)
  447. In Section 12.2, the condition for Gyv being small seems to be misstated‏‎ (17:21, 25 March 2017)
  448. In Section 12.1, the additional transfer functions for the F != 1 case seem to be incorrect‏‎ (17:21, 25 March 2017)
  449. In Section 13.3, the word "response" is duplicated‏‎ (17:28, 25 March 2017)
  450. In Section 13.2, the word "when" is incorrectly capitalized‏‎ (17:29, 25 March 2017)
  451. In Section 13.2, the word "point" is duplicated‏‎ (17:30, 25 March 2017)
  452. In Section 13.2, there's a grammatical issue in the discussion of system stability‏‎ (17:31, 25 March 2017)
  453. In Section 13.2, the word "transfer" is misspelled‏‎ (17:32, 25 March 2017)
  454. Errata: In Figure 4.18, v and V should be v0‏‎ (17:52, 24 August 2017)
  455. 3.0i‏‎ (15:32, 30 September 2018)
  456. Errata‏‎ (16:05, 30 September 2018)
  457. Supplement: Optimization-Based Control‏‎ (19:43, 27 October 2018)
  458. Second Edition‏‎ (20:05, 1 January 2019)
  459. Second edition, version 3.0i posted‏‎ (06:16, 2 January 2019)

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