Updated tuning rules are incorrect in equation (11.10b)
|Submission date||31 Aug 2019|
|Your name||Richard Murray|
|Line number||22, 23|
The gains listed for the improved tuning rules are incorrect. For the frequency response in equation (11.10b), the correct gains are $k_p = 0.16 k_c$ and $k_i = (0.16 k_c + 0.72/K)/T_c.