Errata: In Example 8.6, numerator gain term for G ur should be k r instead of k 1
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Location: page 247, line 2
On the right hand side of the equation for 
, the gain term in the numerator should be 
, the reference gain:
This error also propagates to the expression for 
at the end of the example, as reported here.
(Contributed by Seoul National University, 7 Dec 2010)
