Version 3.0h

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This page contains information about version 3.0h of Feedback Systems by Karl J. Åström and Richard M. Murray. Version 3.0h is a preprint copy of the second edition of the text, being used at Caltech for CDS 101/110, Fall 2016.

Additional info and links:

  • Revision date: 23 Sep 2016 to Oct 2016
  • Complete book - this a PDF of the entire book, as a single PDF file

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.


A full list of errata including page and line numbers is maintained on the errata page.

3-17After Example 3.4, difference equation should be difference equationsPending
6-25After Example 6.8, reference to equation (6.20) should be equation (6.24)Pending
5-26At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve"Pending
4-4Caption of Figure 4.3 has grammatical errorPending
2-8Display equation above equation (2.12) has extra set of parenthesesPending
2-7Equation (2.11) has the wrong formula for the transfer functionPending
2-7Equation 2.11 is not equal to the preceding expression from which it camePending
10-2In Equation 10.1, there's a typo 0 instead of ')'Duplicate
7-3In Equation 7.2, dot is over the subscriptRejected
5-23In Example 5.11, extra "a" in description of PPending
2-5In Example 6.8, signalsith should be signals withClosed
7-34In Exercise 7.12, it refers to 'Exercise ??.'Closed
6-36In Problem 6.8, discrete time system does not progressPending
1-23In Section 1.7, there is a typo/missing word near the end of the sectionClosed
1-25In Section 1.8 text on paper mills, "production unit" should be "production units"Closed
1-23In Section 1.8, breaking should be brakingClosed
10-3In Section 10.1, the word "circuit" is misspelled.Pending
10-2In Section 10.1, there is a typo in the oscillation condition equationPending
10-7In Section 10.2, part of Figure 10.5 seems to be missingPending
10-15In Section 10.3, the caption for Figure 10.11 seems to have a typoPending
10-18In Section 10.4, Figure 10.14(b) seems to missing the curve for reverse driving phasePending
10-18In Section 10.4, the Figure 10.14 caption has a grammatical errorPending
11-5In Section 11.1, the word "frequencies" is duplicatedPending
11-16In Section 11.4, the Figure 11.10 caption has a typoPending
12-3In Section 12.1, the additional transfer functions for the F != 1 case seem to be incorrectPending
12-4In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrectPending
12-6In Section 12.2, the condition for Gyv being small seems to be misstatedPending
12-5In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3Pending
12-11In Section 12.2, the sentence about sensitivity to model uncertainty has a grammatical issuePending
12-5In Section 12.2, the word "desired" is misspelledPending
12-11In Section 12.2, the word "inherently" is misspelledPending
12-10In Section 12.2, there is a singular vs. plural error when talking about the control signalPending
12-10In Section 12.2, there is a typo in the equation for P^+(s)Pending
12-11In Section 12.2, there is a typo in the equation for the approximate inverse of P(s)Pending
12-14In Section 12.3, there is a missing spacePending
12-16In Section 12.4, the word "limitations" is misspelledPending
12-30In Section 12.6, a sentence in Theorem 12.2 is grammatically incorrectPending
12-28In Section 12.6, there is a missing comma in the caption of Figure 12.17Pending
12-35In Section 12.7, there's a grammatical error where it talks about the closed loop system H iPending
12-35In Section 12.7, there's a typo in the discussion of inner/outer loop designPending
13-7In Section 13.2, the word "point" is duplicatedPending
13-7In Section 13.2, the word "transfer" is misspelledPending
13-6In Section 13.2, the word "when" is incorrectly capitalizedPending
13-7In Section 13.2, there's a grammatical issue in the discussion of system stabilityPending
13-15In Section 13.3, the word "response" is duplicatedPending
2-4In Section 2.1, referred is misspelledPending
2-2In Section 2.1, there is a typo in the discussion of solving for an exponential inputPending
2-8In Section 2.2, one too many parentheses in an expression for y(t)Pending
3-10In Section 3.1, there is a typo for pluralityPending
3-2In Section 3.2, "stiction" should be "friction"Rejected
... further results