Version 2.4a

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This page contains information about version 2.4a of Feedback Systems by Karl J. Åström and Richard M. Murray.

Version 2.4a is the first complete copy of the book that is being used for CDS 101/110 at Caltech. For Caltech students, this version is available in the Caltech bookstore as a paperback book for $35. The only difference between the paperback version and the online version is that citations in the online version are alphanumeric. Since this book will be used for a course, this page was created to collect any errata associated with the printed version.

Additinal info:


The errata listed below are referenced according to their location in the printed copy of this text (available in the Caltech bookstore). Line and page numbers for the PDF version posted here may vary slightly. Small errors (typos, grammar fixes) are generally not listed.

Conventions: each line of text and each line of a displayed equation are counted as a line. Negative line numbers mean number of lines from the bottom of the page. First line on page = 1, last line on page = -1. Entries in boldface indicate errors which might change the interpretation of the text.

Chapter 2 - System Modeling

  • Page 44, line -1: The sign on the term is incorrect. The equation should read

    (F. Zabala, 2 Oct 06)

  • Page 45, line -4: The equations of motion are missing a term and have some sign and coefficient errors. The correct equations are

    (F. Zabala, 2 Oct 06)

  • Page 46, line 2: Errors from the previous derivation carry through to the linearization. The correct equation is

    (F. Zabala, 2 Oct 06)

  • Page 46, line 4: should be . (J. Carson, 16 Oct 06)

  • Page 47, equation (2.10): The equation should read


    (D. Rizzo, 8 Oct 06; F. Zabala, 19 Oct 06)


  • Page 60, line -8: the equations for and should read and . (M. Tao, 4 Oct 06)

Chapter 3 - Examples

  • Page 80, equation (3.3): should be , the aerodynamic drag coefficient. [K. Watts, 8 Oct 06]

Chapter 4 - Dynamic Behavior

  • Page 115, line 2 (first displayed equation): equation should read


    [F. Zabala, 19 Oct 06]


  • Page 132, line 5: the matrix at the end of the displayed equation should be the negative of the identity matrix (minus sign missing). [D. Hurtado, 16 Oct 06]

  • Page 133, lines 11 and 12: the last row in the nonlinear portion of should be zero. The term is already included in the linear term in the sum. [D. Hurtado, 15 Oct 06]

Chapter 5 - Linear Systems

  • Page 146, equation (5.2): should be . [K. Galloway, 19 Oct 06]

  • Page 149, second line of expression: missing from end of line. [K. Galloway, 19 Oct 06]

  • Page 151, equation (5.7): second term in expansion should be (missing factor of ). [K. Galloway, 19 Oct 06]

  • Page 154, line 10 (second displayed equation): third term has an additional after the end of the parentheses. [K. Galloway, 19 Oct 06]

  • Page 154, line 15 (third displayed equation): denominator should be . [K. Galloway, 19 Oct 06]

  • Page 185, exercise 7(a): the displayed equation should read

    [C. Lepine, 16 Oct 06]

Chapter 6 - State Feedback

  • Page 177, equations (5.27) and (5.29): should be , the aerodynamic drag coefficient. [C. Lepine, 11 Oct 06]

  • Page 195, line -1: There is a missing equals sign after math. [K. Watts, 26 Oct 06]

Links to individual chapters

The links below are to the PDF files for the individual chapters in version 2.4a. For the most recent version of the chapters, use the contents menu (usually on the left side of the browser window).