Errata: In section on pole/zero cancellations, pole and zero are at s = -a
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Location: page 247, line -1 and page 248, line 1
In the discussion on pole/zero cancellations, the term in the transfer function is 
, so the location of the pole and zero is at 
(not 
).
(Contributed by L. Xiong, 26 Dec 08)
