Difference between revisions of "Errata"

From FBSwiki
Jump to: navigation, search
(First printing)
(added revision number)
Line 9: Line 9:
 
=== First printing ===
 
=== First printing ===
 
{{errata table begin}}
 
{{errata table begin}}
{{errata item|page=19|line=-11|title=The Wright brothers made their first successful flight in 1903, not 1905}}
+
{{errata item|rev=2.9d|page=19|line=-11|title=The Wright brothers made their first successful flight in 1903, not 1905}}
{{errata item|page=32|line=12|title=In discussion on disturbance signals, "can" should be "cannot"}}
+
{{errata item|rev=2.9d|page=32|line=12|title=In discussion on disturbance signals, "can" should be "cannot"}}
{{errata item|page=62|line=-6|title=In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b}}
+
{{errata item|rev=2.9d|page=62|line=-6|title=In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b}}
{{errata item|page=63|line=-8|title=In Exercise 2.7, reference to inverted pendulum may be confusing}}
+
{{errata item|rev=2.9d|page=63|line=-8|title=In Exercise 2.7, reference to inverted pendulum may be confusing}}
{{errata item|page=80|line=5|title=In Equation (3.19), the second term in the window dynamics should contain \rho c}}
+
{{errata item|rev=2.9d|page=80|line=5|title=In Equation (3.19), the second term in the window dynamics should contain \rho c}}
{{errata item|page=91|line=-6|title=In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"}}
+
{{errata item|rev=2.9d|page=91|line=-6|title=In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"}}
{{errata item|page=92|line=-9|title=State space dynamics in Exercise 3.5 are not correct}}
+
{{errata item|rev=2.9d|page=92|line=-9|title=State space dynamics in Exercise 3.5 are not correct}}
 
{{errata bold|page=106|line=7|title=Solution for x_2j in block diagonal form discussion has sign errors}}
 
{{errata bold|page=106|line=7|title=Solution for x_2j in block diagonal form discussion has sign errors}}
 
{{errata bold|page=107|line=12-23|title=Closed loop dynamics matrix is incorrect in Example 4.6}}
 
{{errata bold|page=107|line=12-23|title=Closed loop dynamics matrix is incorrect in Example 4.6}}
{{errata item|page=108|line=8|title=Missing γ in equation (4.9)}}
+
{{errata item|rev=2.9d|page=108|line=8|title=Missing γ in equation (4.9)}}
{{errata item|page=110|line=11, 13|title=In Example 4.8, the linearized dynamics should contain 3 r_e, not 2 r_e}}
+
{{errata item|rev=2.9d|page=110|line=11, 13|title=In Example 4.8, the linearized dynamics should contain 3 r_e, not 2 r_e}}
{{errata item|page=112|line=-1|title=In Example 4.9, V(x) should be V(z)}}
+
{{errata item|rev=2.9d|page=112|line=-1|title=In Example 4.9, V(x) should be V(z)}}
{{errata item|page=117|line=3|title=Typo in the caption for Figure 4.15}}
+
{{errata item|rev=2.9d|page=117|line=3|title=Typo in the caption for Figure 4.15}}
 
{{errata bold|page=126|line=-5|title=In Exercise 4.1, x_0 should not be subtracted from time-shifted solution}}
 
{{errata bold|page=126|line=-5|title=In Exercise 4.1, x_0 should not be subtracted from time-shifted solution}}
{{errata item|page=126|line=-5|title=In Exercise 4.1, tau should be defined as t-t_0}}
+
{{errata item|rev=2.9d|page=126|line=-5|title=In Exercise 4.1, tau should be defined as t-t_0}}
{{errata item|page=127|line=5|title=In Exercise 4.2, a_e should be a}}
+
{{errata item|rev=2.9d|page=127|line=5|title=In Exercise 4.2, a_e should be a}}
{{errata item|page=127|line=15|title=Sign error in second Lyapunov function in Exercise 4.4}}
+
{{errata item|rev=2.9d|page=127|line=15|title=Sign error in second Lyapunov function in Exercise 4.4}}
{{errata item|page=128|line=3|title=In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced}}
+
{{errata item|rev=2.9d|page=128|line=3|title=In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced}}
{{errata item|page=129|line=-2|title=In Exercise 4.14c, the transformation T and its inverse are swapped}}
+
{{errata item|rev=2.9d|page=129|line=-2|title=In Exercise 4.14c, the transformation T and its inverse are swapped}}
{{errata item|page=131|line=-15|title=Extraneous text "!linear" in Section 5.1}}
+
{{errata item|rev=2.9d|page=131|line=-15|title=Extraneous text "!linear" in Section 5.1}}
{{errata item|page=135|line=12|title=In equation (5.5), the upper limit of the integral should be t}}
+
{{errata item|rev=2.9d|page=135|line=12|title=In equation (5.5), the upper limit of the integral should be t}}
{{errata item|page=144|line=-7|title=Example 5.5 includes a damping term not shown in Figure 5.4}}
+
{{errata item|rev=2.9d|page=144|line=-7|title=Example 5.5 includes a damping term not shown in Figure 5.4}}
{{errata item|page=145|line=5|title=In Examples 5.5 and 5.6, dynamics in modal form should use z, not x}}
+
{{errata item|rev=2.9d|page=145|line=5|title=In Examples 5.5 and 5.6, dynamics in modal form should use z, not x}}
{{errata item|page=149|line=8|title=In Examples 5.5 and 5.6, dynamics in modal form should use z, not x}}
+
{{errata item|rev=2.9d|page=149|line=8|title=In Examples 5.5 and 5.6, dynamics in modal form should use z, not x}}
{{errata item|page=156|line=-10|title=In AFM dynamics, c and k are missing subscript 2}}
+
{{errata item|rev=2.9d|page=156|line=-10|title=In AFM dynamics, c and k are missing subscript 2}}
{{errata item|page=164|line=-11|title=Parameter values are missing in Exercise 5.3}}
+
{{errata item|rev=2.9d|page=164|line=-11|title=Parameter values are missing in Exercise 5.3}}
{{errata item|page=164|line=-3|title=Remove part (a) in Exercise 5.6}}
+
{{errata item|rev=2.9d|page=164|line=-3|title=Remove part (a) in Exercise 5.6}}
{{errata item|page=165|line=11|title=In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau}}
+
{{errata item|rev=2.9d|page=165|line=11|title=In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau}}
{{errata item|page=165|line=16|title=In Exercise 5.8, the initial condition is x_0}}
+
{{errata item|rev=2.9d|page=165|line=16|title=In Exercise 5.8, the initial condition is x_0}}
{{errata item|page=166|line=3|title=In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b}}
+
{{errata item|rev=2.9d|page=166|line=3|title=In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b}}
{{errata item|page=169|line=-12|title=In heuristic derivation of reachability test, α is missing subscript}}
+
{{errata item|rev=2.9d|page=169|line=-12|title=In heuristic derivation of reachability test, α is missing subscript}}
 
{{errata bold|page=180|line=-2|title=Formula for k_r in equation (6.21) of Theorem 6.3 is incorrect}}
 
{{errata bold|page=180|line=-2|title=Formula for k_r in equation (6.21) of Theorem 6.3 is incorrect}}
{{errata item|page=181|line=9|title=Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment}}
+
{{errata item|rev=2.9d|page=181|line=9|title=Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment}}
{{errata item|page=183|line=-7|title=In equation (6.22), k omega^2 should be k omega_0^2}}
+
{{errata item|rev=2.9d|page=183|line=-7|title=In equation (6.22), k omega^2 should be k omega_0^2}}
{{errata item|page=184|line=-10|title=In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one}}
+
{{errata item|rev=2.9d|page=184|line=-10|title=In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one}}
{{errata item|page=185|line=4|title=Values of zeta in the caption for Figure 6.8 don't match the figure}}
+
{{errata item|rev=2.9d|page=185|line=4|title=Values of zeta in the caption for Figure 6.8 don't match the figure}}
{{errata item|page=188|line=-2|title=Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries}}
+
{{errata item|rev=2.9d|page=188|line=-2|title=Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries}}
{{errata item|page=189|line=22|title=Numerical gains for Example 6.7 are incorrect}}
+
{{errata item|rev=2.9d|page=189|line=22|title=Numerical gains for Example 6.7 are incorrect}}
{{errata item|page=198|line=14|title=In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero}}
+
{{errata item|rev=2.9d|page=198|line=14|title=In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero}}
{{errata item|page=199|line=-1, -2|title=In AFM dynamics, c and k are missing subscript 2}}
+
{{errata item|rev=2.9d|page=199|line=-1, -2|title=In AFM dynamics, c and k are missing subscript 2}}
{{errata item|page=200|line=9|title=In Exercise 6.13, R should be removed and rho should be rho_1}}
+
{{errata item|rev=2.9d|page=200|line=9|title=In Exercise 6.13, R should be removed and rho should be rho_1}}
{{errata item|page=220|line=12|title=In computation of error dynamics, u_ff argument is missing}}
+
{{errata item|rev=2.9d|page=220|line=12|title=In computation of error dynamics, u_ff argument is missing}}
{{errata item|page=224|line=-7|title=References to first and second equations are switched in computer implementation discussion}}
+
{{errata item|rev=2.9d|page=224|line=-7|title=References to first and second equations are switched in computer implementation discussion}}
{{errata item|page=240|line=-16, -13|title=Sign error in equation (8.17) - (sI - A) should be (A - sI)}}
+
{{errata item|rev=2.9d|page=240|line=-16, -13|title=Sign error in equation (8.17) - (sI - A) should be (A - sI)}}
{{errata item|page=240|line=-11|title=Explanation of the lack of zeros when B or C is full rank is confusing}}
+
{{errata item|rev=2.9d|page=240|line=-11|title=Explanation of the lack of zeros when B or C is full rank is confusing}}
{{errata item|page=241|line=-4, -6|title=In Example 8.5, q should be replaced by theta}}
+
{{errata item|rev=2.9d|page=241|line=-4, -6|title=In Example 8.5, q should be replaced by theta}}
{{errata item|page=249|line=3|title=Location of the process pole is missing a zero in figure caption for cruise control example}}
+
{{errata item|rev=2.9d|page=249|line=3|title=Location of the process pole is missing a zero in figure caption for cruise control example}}
{{errata item|page=256|line=1|title=Caption for Figure 8.15b is missing an s in the numerator}}
+
{{errata item|rev=2.9d|page=256|line=1|title=Caption for Figure 8.15b is missing an s in the numerator}}
{{errata item|page=277|line=13|title=In Theorem 9.3, N should be Z}}
+
{{errata item|rev=2.9d|page=277|line=13|title=In Theorem 9.3, N should be Z}}
{{errata item|page=288|line=-3|title=Exponential signal is incorrect on the left-hand side of harmonic expansion equation}}
+
{{errata item|rev=2.9d|page=288|line=-3|title=Exponential signal is incorrect on the left-hand side of harmonic expansion equation}}
{{errata item|page=292|line=18|title=In Exercise 9.9, 10/a should be 1/tau}}
+
{{errata item|rev=2.9d|page=292|line=18|title=In Exercise 9.9, 10/a should be 1/tau}}
{{errata item|page=307|line=-9|title=Toward end of Section 10.4, k_i should be k_t}}
+
{{errata item|rev=2.9d|page=307|line=-9|title=Toward end of Section 10.4, k_i should be k_t}}
{{errata item|page=308|line=0|title=Figure 10.11 is missing filter on derivative term}}
+
{{errata item|rev=2.9d|page=308|line=0|title=Figure 10.11 is missing filter on derivative term}}
{{errata item|page=310|line=-4|title=In Figure 10.13, the indices on the resistors and capacitors are incorrect}}
+
{{errata item|rev=2.9d|page=310|line=-4|title=In Figure 10.13, the indices on the resistors and capacitors are incorrect}}
{{errata item|page=311|line=-3|title=Missing ydot after equation (10.16)}}
+
{{errata item|rev=2.9d|page=311|line=-3|title=Missing ydot after equation (10.16)}}
{{errata item|page=313|line=8,9|title=In Exercise 10.1, the second term in the denominator should be kp not kd}}
+
{{errata item|rev=2.9d|page=313|line=8,9|title=In Exercise 10.1, the second term in the denominator should be kp not kd}}
{{errata item|page=314|line=-5|title=In Exercise 10.11, the dynamics for x_2 should test for e less than e_0, not e less than 1}}
+
{{errata item|rev=2.9d|page=314|line=-5|title=In Exercise 10.11, the dynamics for x_2 should test for e less than e_0, not e less than 1}}
{{errata item|page=315|line=-8|title=Extraneous 'LDH' and comment in the text}}
+
{{errata item|rev=2.9d|page=315|line=-8|title=Extraneous 'LDH' and comment in the text}}
{{errata item|page=319|line=0|title=Arrow labeled u_fd in Figure 11.3 is in the wrong direction}}
+
{{errata item|rev=2.9d|page=319|line=0|title=Arrow labeled u_fd in Figure 11.3 is in the wrong direction}}
{{errata item|page=319|line=4, -2|title=The signal u_ff should be u_fr in the caption for Figure 11.3 and associated text}}
+
{{errata item|rev=2.9d|page=319|line=4, -2|title=The signal u_ff should be u_fr in the caption for Figure 11.3 and associated text}}
{{errata item|page=319|line=-7|title=Extraneous text "!design" in Chapter 12}}
+
{{errata item|rev=2.9d|page=319|line=-7|title=Extraneous text "!design" in Chapter 12}}
{{errata item|page=323|line=-9|title=Maximum sensitivity occurs at frequency omega_ms not omega_sc}}
+
{{errata item|rev=2.9d|page=323|line=-9|title=Maximum sensitivity occurs at frequency omega_ms not omega_sc}}
{{errata item|page=325|line=-9|title=Proportional gain in Example 11.4 transfer function should be kp}}
+
{{errata item|rev=2.9d|page=325|line=-9|title=Proportional gain in Example 11.4 transfer function should be kp}}
{{errata item|page=330|line=5|title=Denominator of vectored thrust process model should be Js^2}}
+
{{errata item|rev=2.9d|page=330|line=5|title=Denominator of vectored thrust process model should be Js^2}}
{{errata item|page=336|line=-8|title=Extraneous text "!design" in Chapter 12}}
+
{{errata item|rev=2.9d|page=336|line=-8|title=Extraneous text "!design" in Chapter 12}}
{{errata item|page=345|line=12|title=Exercise 11.4 should be Example 11.4 in Exercise 11.9}}
+
{{errata item|rev=2.9d|page=345|line=12|title=Exercise 11.4 should be Example 11.4 in Exercise 11.9}}
{{errata item|page=345|line=14|title=T_d should be T_f in Exercise 11.9}}
+
{{errata item|rev=2.9d|page=345|line=14|title=T_d should be T_f in Exercise 11.9}}
{{errata item|page=345|line=-5|title=Numerator and denominator are switched in Exercise 11.11}}
+
{{errata item|rev=2.9d|page=345|line=-5|title=Numerator and denominator are switched in Exercise 11.11}}
{{errata item|page=351|line=2,3|title=Caption for Figure 12.4 doesn't quite match figure}}
+
{{errata item|rev=2.9d|page=351|line=2,3|title=Caption for Figure 12.4 doesn't quite match figure}}
{{errata item|page=356|line=6, 12|title=In Example 12.6, n = -1 should be n = 1}}
+
{{errata item|rev=2.9d|page=356|line=6, 12|title=In Example 12.6, n = -1 should be n = 1}}
{{errata item|page=363|line=-11|title="Assigning a closed loop zero" should be "assigning a closed loop pole"}}
+
{{errata item|rev=2.9d|page=363|line=-11|title="Assigning a closed loop zero" should be "assigning a closed loop pole"}}
{{errata item|page=369|line=-1|title=Extraneous text "!design" in Chapter 12}}
+
{{errata item|rev=2.9d|page=369|line=-1|title=Extraneous text "!design" in Chapter 12}}
 
{{errata table end}}
 
{{errata table end}}

Revision as of 17:57, 21 December 2008

Submit bug report

This page contains information about errata for Feedback Systems. The errata listed here include known and corrected errors since the first printing of the book. Typos and other relatively minor corrections are omitted.

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 significantly 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.

First printing

Page Line Erratum Version
19   -11   The Wright brothers made their first successful flight in 1903, not 1905 2.9d
32   12   In discussion on disturbance signals, "can" should be "cannot" 2.9d
62   -6   In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b 2.9d
63   -8   In Exercise 2.7, reference to inverted pendulum may be confusing 2.9d
80   5   In Equation (3.19), the second term in the window dynamics should contain \rho c 2.9d
91   -6   In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt" 2.9d
92   -9   State space dynamics in Exercise 3.5 are not correct 2.9d
106   7   Solution for x_2j in block diagonal form discussion has sign errors N/A
107   12-23   Closed loop dynamics matrix is incorrect in Example 4.6 N/A
108   8   Missing γ in equation (4.9) 2.9d
110   11, 13   In Example 4.8, the linearized dynamics should contain 3 r_e, not 2 r_e 2.9d
112   -1   In Example 4.9, V(x) should be V(z) 2.9d
117   3   Typo in the caption for Figure 4.15 2.9d
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 2.9d
127   5   In Exercise 4.2, a_e should be a 2.9d
127   15   Sign error in second Lyapunov function in Exercise 4.4 2.9d
128   3   In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced 2.9d
129   -2   In Exercise 4.14c, the transformation T and its inverse are swapped 2.9d
131   -15   Extraneous text "!linear" in Section 5.1 2.9d
135   12   In equation (5.5), the upper limit of the integral should be t 2.9d
144   -7   Example 5.5 includes a damping term not shown in Figure 5.4 2.9d
145   5   In Examples 5.5 and 5.6, dynamics in modal form should use z, not x 2.9d
149   8   In Examples 5.5 and 5.6, dynamics in modal form should use z, not x 2.9d
156   -10   In AFM dynamics, c and k are missing subscript 2 2.9d
164   -11   Parameter values are missing in Exercise 5.3 2.9d
164   -3   Remove part (a) in Exercise 5.6 2.9d
165   11   In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau 2.9d
165   16   In Exercise 5.8, the initial condition is x_0 2.9d
166   3   In Exercises 2.5 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b 2.9d
169   -12   In heuristic derivation of reachability test, α is missing subscript 2.9d
180   -2   Formula for k_r in equation (6.21) of Theorem 6.3 is incorrect N/A
181   9   Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment 2.9d
183   -7   In equation (6.22), k omega^2 should be k omega_0^2 2.9d
184   -10   In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one 2.9d
185   4   Values of zeta in the caption for Figure 6.8 don't match the figure 2.9d
188   -2   Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries 2.9d
189   22   Numerical gains for Example 6.7 are incorrect 2.9d
198   14   In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero 2.9d
199   -1, -2   In AFM dynamics, c and k are missing subscript 2 2.9d
200   9   In Exercise 6.13, R should be removed and rho should be rho_1 2.9d
220   12   In computation of error dynamics, u_ff argument is missing 2.9d
224   -7   References to first and second equations are switched in computer implementation discussion 2.9d
240   -16, -13   Sign error in equation (8.17) - (sI - A) should be (A - sI) 2.9d
240   -11   Explanation of the lack of zeros when B or C is full rank is confusing 2.9d
241   -4, -6   In Example 8.5, q should be replaced by theta 2.9d
249   3   Location of the process pole is missing a zero in figure caption for cruise control example 2.9d
256   1   Caption for Figure 8.15b is missing an s in the numerator 2.9d
277   13   In Theorem 9.3, N should be Z 2.9d
288   -3   Exponential signal is incorrect on the left-hand side of harmonic expansion equation 2.9d
292   18   In Exercise 9.9, 10/a should be 1/tau 2.9d
307   -9   Toward end of Section 10.4, k_i should be k_t 2.9d
308   0   Figure 10.11 is missing filter on derivative term 2.9d
310   -4   In Figure 10.13, the indices on the resistors and capacitors are incorrect 2.9d
311   -3   Missing ydot after equation (10.16) 2.9d
313   8,9   In Exercise 10.1, the second term in the denominator should be kp not kd 2.9d
314   -5   In Exercise 10.11, the dynamics for x_2 should test for e less than e_0, not e less than 1 2.9d
315   -8   Extraneous 'LDH' and comment in the text 2.9d
319   0   Arrow labeled u_fd in Figure 11.3 is in the wrong direction 2.9d
319   4, -2   The signal u_ff should be u_fr in the caption for Figure 11.3 and associated text 2.9d
319   -7   Extraneous text "!design" in Chapter 12 2.9d
323   -9   Maximum sensitivity occurs at frequency omega_ms not omega_sc 2.9d
325   -9   Proportional gain in Example 11.4 transfer function should be kp 2.9d
330   5   Denominator of vectored thrust process model should be Js^2 2.9d
336   -8   Extraneous text "!design" in Chapter 12 2.9d
345   12   Exercise 11.4 should be Example 11.4 in Exercise 11.9 2.9d
345   14   T_d should be T_f in Exercise 11.9 2.9d
345   -5   Numerator and denominator are switched in Exercise 11.11 2.9d
351   2,3   Caption for Figure 12.4 doesn't quite match figure 2.9d
356   6, 12   In Example 12.6, n = -1 should be n = 1 2.9d
363   -11   "Assigning a closed loop zero" should be "assigning a closed loop pole" 2.9d
369   -1   Extraneous text "!design" in Chapter 12 2.9d