# Difference between revisions of "Errata"

This page contains information about errata for Feedback Systems. The errata listed here include all known and corrected errors since the first printing of the book.

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.
• The version refers to the release number in which the error was found. Errors are corrected in all subsequent releases of the text.
Page Line Erratum Version
19   -11   The Wright brothers made their first successful flight in 1903, not 1905 N/A
62   -6   In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b N/A
63   -8   In Exercise 2.7, reference to inverted pendulum may be confusing N/A
91   -6   In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt" N/A
92   -9   State space dynamics in Exercise 3.5 are not correct N/A
106   7   Solution for x_2j in block diagonal form discussion has sign errors N/A
108   8   Missing γ in equation (4.9) N/A
112   -1   In Example 4.9, V(x) should be V(z) N/A
117   3   Typo in the caption for Figure 4.15 N/A
126   -5   In Exercise 4.1, x_0 should not be subtracted from time-shifted solution N/A
126   -5   In Exercise 4.1, tau should be defined as t-t_0 N/A
127   5   In Exercise 4.2, a_e should be a N/A
127   15   Sign error in second Lyapunov function in Exercise 4.4 N/A
128   3   In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced N/A
129   -2   In Exercise 4.14c, the transformation T and its inverse are swapped N/A
131   -15   Extraneous text "!linear" in Section 5.1 N/A
135   12   In equation (5.5), the upper limit of the integral should be t N/A
144   -7   Example 5.5 includes a damping term not shown in Figure 5.4 N/A
145   5   In Examples 5.5 and 5.6, dynamics in modal form should use z, not x N/A
149   8   In Examples 5.5 and 5.6, dynamics in modal form should use z, not x N/A
156   -10   In AFM dynamics, c and k are missing subscript 2 N/A
164   -11   Parameter values are missing in Exercise 5.3 N/A
164   -3   Remove part (a) in Exercise 5.6 N/A
165   11   In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau N/A
166   3   In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b N/A
169   -12   In heuristic derivation of reachability test, α is missing subscript N/A
181   9   Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment N/A
198   14   In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero N/A
200   9   In Exercise 6.13, R should be removed and rho should be rho_1 N/A
220   12   In computation of error dynamics, u_ff argument is missing N/A
224   -7   References to first and second equations are switched in computer implementation discussion N/A
240   -16, -13   Sign error in equation (8.17) - (sI - A) should be (A - sI) N/A
240   -11   Explanation of the lack of zeros when B or C is full rank is confusing N/A
241   -4, -6   In Example 8.5, q should be replaced by theta N/A
249   3   Location of the process pole is missing a zero in figure caption for cruise control example N/A
256   1   Caption for Figure 8.15b is missing an s in the numerator N/A
277   13   In Theorem 9.3, N should be Z N/A
288   -3   Exponential signal is incorrect on the left-hand side of harmonic expansion equation N/A
292   18   In Exercise 9.9, 10/a should be 1/tau N/A
307   -9   Toward end of Section 10.4, k_i should be k_t N/A
311   -3   Missing ydot after equation (10.16) N/A
314   -5   Dynamics for x_2 should test for e less than e_0, not e less than 1 N/A
319   0   Arrow labeled u_fd in Figure 11.3 is in the wrong direction N/A
319   -7   Extraneous text "!design" in Chapter 12 N/A
323   -9   Maximum sensitivity occurs at frequency omega_ms not omega_sc N/A
336   -8   Extraneous text "!design" in Chapter 12 N/A
345   12   Exercise 11.4 should be Example 11.4 in Exercise 11.9 N/A
345   14   T_d should be T_f in Exercise 11.9 N/A
345   -5   Numerator and denominator are switched in Exercise 11.11 N/A
356   6, 12   In Example 12.6, n = -1 should be n = 1 N/A
369   -1   Extraneous text "!design" in Chapter 12 N/A