Version 2.10b

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This page contains information about version 2.1ba of Feedback Systems by Karl J. Åström and Richard M. Murray. Version 2.10b contains corrections to the first printing through 22 February 2009. This revision corresponds to the second printing of the book.

Additional info and links:

• Revision date: 22 February 2009
• Complete book - this a PDF of the entire book, as a single PDF file (408 pages, 8 MB).
• Individual chapters: P, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, B

The electronic edition of Feedback Systems is provided with the permission of the publisher, Princeton University Press. This manuscript is for personal use only and may not be reproduced, in whole or in part, without written consent from the publisher.

Errata

A full list of errata including page and line numbers is maintained on the errata page. The following errata have been identified in this version of the text (for a listing in page order, see version 2.10b errata):

• Errata: After equation (12.23), generalized error is z, not w
• Errata: Equation (3.24) should have c in the numerator instead of c0
• Errata: Equation (4.4) is labeled incorrectly
• Errata: F R v F^T term dropped in proof of Theorem 7.4
• Errata: Global Lyapunov stability requires additional conditions
• Errata: In Example 12.8, controller zeros is at s = 3.5
• Errata: In Example 12.8, process zero is at s = -2
• Errata: In Example 12.9, poles are at -a, -p1, -p2
• Errata: In Example 4.11, Taylor series term is missing factor of 1/2
• Errata: In Example 4.6, u d is not computed correctly
• Errata: In Example 6.3, z 2 should be x 1/omega instead of x 2/omega
• Errata: In Example 8.3, a = 10 rad/s
• Errata: In Exercise 7.11, output to check is the feedforward signal
• Errata: In Exercise 7.13, missing equals sign in covariance specification
• Errata: In Exercise 8.8, second transfer function should be G yn instead of G yd
• Errata: In Figure 2.16, theta should be O
• Errata: In Figure 8.3, the gain falls off at omega = a R1 k / R2
• Errata: In equation (3.27), the state used for the output should be c, not x
• Errata: In the complex input u = exp(s t), s should be i omega, not i omega t
• Errata: Reference to equation (6.17) should be to equation (6.15)
• Errata: Riemann sphere has radius (not diameter) 1
• Errata: d(P 1, P 2) is the longest chordal distance, not shortest

Note that errata in later versions of the text may also apply to this version. A full list of errata in all versions of the text is maintained on the errata page.