# Difference between revisions of "Errata"

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 2.9d
107   12-23   Closed loop dynamics matrix is incorrect in Example 4.6 2.9d
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 2.9d
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
146   -15   Equation (5.15) is linear in the initial conditions and *input* 2.10a
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 2.9d
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