Page

Line

Erratum

Version

10

1

In the "Instrumentation" subsection, "axon of the giant squid" should be "giant axon of the squid"

2.10c

37

4

In Example 2.1, the state space equations for the balance system are missing a divisor of J_t in one of the terms

2.10c

38

20, 21

In equation (2.12), should be x[0] (twice)

2.10e

40

2

In Figure 2.7, the coefficients are for an update period of one day

2.10c

42

2

In Figure 2.9, "solid" and "dashed" should be swapped

2.10e

43

12

In displayed equation for , leading minus sign is missing from rightmost expression

2.10d

47

6

In Example 2.5, expression for the step response is missing some factors

2.10d

49

8 to 4

In Example 2.7, q should be replaced by p (three places) and theta (one place)

2.10d

61

4

In Exercise 2.3, disrete should be discrete

2.10e

62

10

In Exercise 2.4, a = 0.25 should be a = 0.75

2.10e

84

11

In the online version of the text, there is a formatting error in equation (3.23)

2.10c

86

1

In equation (3.26), q_0 is not defined

2.10c

100

6

In Example 4.4, second simplifying assumption should be l/J_t = 1 (remove extra factor of m)

2.10d

105

3

On right hand side of displayed equation, x should be x_j

2.10c

107

7

At the end of Example 4.6, the roots should have negative real part instead of being positive

2.10d

110

5

Near end of Example 4.11, denominator of f'(z_2e) term should be squared

2.10d

113

14

In Example 4.10, \dot V = 0 should be treated as negative semidefinite, not positive

2.10d

116

3,6

In Example 4.11, Lyapunov equation entries for f'_1 and f'_2 are switched (solution is correct)

2.10d

121

10

In Example 4.13, inequality should be for x_1 instead of x_2

2.10c

127

4

In Exercise 4.2, the q_in term should be positive

2.10d

128

6

In Exercise 4.12, some additional assumptions are required for oscillation

2.10e

132

1

Add a comma after "For other systems" for clarity

2.10c

135

10

In displayed equation above equation (5.5), there is an extraneous infinity symbol after the summation

2.10f

138

14

In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping

2.10d

138

11

In Example 5.3, omega_d should have terms in the square root reversed

2.11b

140

0

In Figure 5.3, state labels are incorrect

2.10e

140

7

In displayed equation after equation (5.11), exponential is missing parenthesis; should be

2.10d

141

4, 8

In Example 5.4, there is a sign error in one of the terms

2.10c

145

89

At end of Example 5.5, eigenvalue approximations are incorrect

2.10d

145

89

At end of Example 5.5, real part of eigenvalues has incorrect sign

2.10e

147

1015

Impulse response does not include the direct term in the proper manner

2.11b

148

2

In the caption for Figure 5.7, "drive" should be "driven"

2.10c

157

7

In equation (5.26), the u(k) term in the integral should be u(tau)

2.10c

158

13, 22

In Example 5.11, the parameter should be

2.11b

158

8

After equation (5.31), rolling friction term disappears if v = 0

2.10c

158

7

After equation (5.31), the equilibrium velocity should be m/s

2.11b

158

5

After equation (5.31), the parameter listed in the text should be

2.11b

161

3

In Example 5.12, expression nonequilibrium condition has wrong symbols

2.10d

162

7

In equation (5.37), the parameter should be

2.11b

163

10

In equation (5.39), Coriolis term should be + C(q, \dot q)

2.10d

165

4

In Exercise 5.8d, the left hand side of the first equation should be x(k+1)

2.10c

178

12

In Example 6.4, the initial control signal is u(0) = k_r r = \omega_c^2 r

2.11b

179

12

In equation (6.17), elements of the output matrix should be in the opposite order

2.10d

179

8

In displayed equation after equation (6.17), a_l should be a_1

2.10d

182

1620, 25

In Example 6.5, reference variable should be L_d instead of r

2.10d

182

3

In Example 6.5, definitions of z1 and z2 are switched

2.11a

182

17

In second line of displayed equation, missing minus sign in front of the gain matrix

2.10d

182

21

In the last paragraph of Example 6.5, r_h should be u

2.10d

183

4

In the caption for Figure 6.7, L_e=20 should be L_e=30

2.10d

184

17

For underdamped second order system, eigenvalues are listed incorrectly

2.10d

185

3

The formula given for the rise time of a second order system in Table 6.1 is only approximate

2.11a

186

5

Before Example 6.6, "is Qvalue" should be "its Qvalue"

2.10d

186

3

In Example 6.6, the output equation has 'x' for the state instead of 'c'

2.10c

189

5

In Example 6.7, the open loop eigenvalues are incorrect

2.11b

189

15

In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i

2.10d

191

5

In Example 6.8, the state space dynamics have errors in the trigonometric terms

2.10c

192

414

In Example 6.8, the state error should be \xi and the input should be F

2.10d

192

15

Diagonal entries for Q_v should be rho

2.10c

196

19, 23

In Example 6.10, the system input for the linearized model should be w instead of u

2.11a

196

1

In Example 6.10, the reference gain should be k_r = a_1/b

2.11b

204

6

In Example 7.1, the output equation has 'x' for the state instead of 'c'

2.10c

206

2

In expression for W_0, (3, 1) entry should be (remove factor of in second term)

2.10c

207

13

"going zero" → "going to zero"

2.10d

213

8

Estimator dynamics in Theorem 7.3 are missing B k_r r term

2.10c

217

6, 5

In Example 7.5, descriptions for (disturbance) and are switched

2.10c

219

5

Change gain matrix to for consistency

2.10d

220

17

In expression for B(t), missing parenthesis at end of subscripted expression

2.11a

220

12

Above displayed equation for the gain scheduled control law, should be replaced by

2.10d

221

15

In Example 7.5, "where were" → "which were"

2.10d

224

4

Output in Kalman decomposition for Example 7.7 is missing state error term

2.10c

225

4

"phenomena knows" → "phenomena known"

2.10c

229

10

Henrik Bode should be Hendrik Bode

2.11a

233

8

In equation (8.6), matrix inverse is computed incorrectly

2.10d

235

14

In displayed equation above equation (8.9), exponential term on right hand side should be (no minus sign)

2.10d

238

9

In equation (8.15), second order partial derivative is written incorrectly

2.10c

238

1

In Example 8.4, boundary condition and coefficients for psi(x) are incorrect

2.10c

241

12

Before Example 8.5, "related" → "relate"

2.10d

242

7

In Example 8.5, leading term in denominator for H_\theta F should be cubic in s

2.10d

247

2

In Example 8.6, numerator gain term for G_ur should be k_r instead of k_1

2.10d

247

11

Last equation in Example 8.6 has sign error in the second term

2.10c

247

11

Last equation in Example 8.6 has errors in numerator expressions

2.10d

249

6

In Example 8.7, remove from numerator of expression for

2.10d

256

10,9

In Example 8.9, u should be v in the first displayed equation and the following line

2.11a

262

2

In Exercise 8.2, text should read "transfer function from to " (instead of )

2.10d

263

13

In Exercise 8.5, k in the denominator of G(s) should be (k+1)

2.10c

264

9

In Exercise 8.6, second term in expression for b_n should be

2.10d

272

10, 11

In the paragraph above Example 9.3, G(*) should be L(*)

2.11a

272

1

In Example 9.3, intersection of negative real axis should be at 0.5.

2.10d

273

5

In Example 9.4, "that that" → "that"

2.10d

274

2

In right hand expression of last displayed equation of Example 9.4, in the denominator should be

2.10d

275

1

In the caption for Figure 9.7, the transfer function should match equation (9.4)

2.11a

275

3

In caption for Figure 9.7, "intersections" → "intersects"

2.10d

275

5

In Example 9.5, "it is seems" → "it seems

2.10d

282

11, 9

In Example 9.9, 'gain margin' g_m should be 'stability margin' s_m

2.10d

282

7

In Example 9.9, the gain margin for Figure 9.12 should be

2.10d

283

12

In equation (9.8), the right hand side should be evaluated at omega0

2.11a

283

6

Missing parenthesis in

2.10d

284

13

In Example 9.10, transfer function zero is at

2.10d

289

7

In equation (9.14), should be

2.10d

292*

10

In Exercise 9.7, should be

2.11a

296

1

Caption for Figure 10.3b should be "Derivative action"

2.10c

297

11

After equation (10.5), low frequency limit bound be 1/T_d instead of T_d

2.10c

299

10

Closed loop time constant after equation (10.6) has an extra factor of 2

2.11a

300

4

The b k_i term in the characteristic polynomial has an extra factor of s

2.10c

300

7

In displayed equation above equation (10.7), the final term should be (not squared)

2.10d

302

0

In Figure 10.7b, should be

2.10c

304

8

In Example 10.4, z should be zeta

2.11a

304

1

In Example 10.4, proportional gain should be

2.10d

305

1

In equation (10.12), should be

2.11a

306

1

Right after equation (10.12), should be

2.11a

308

9

In Section 10.5, PID derivative filter should have time constant

2.10d

309

9

In equation (10.4), upper limit of the integral should be t, not infinity

2.11a

310

4

The expressions for the PID parameters for the op amp implementation are incorrect

2.10d

318

4 to 1

Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly

2.10c

319

0

In Figure 11.3, the label 'y' at the input to P_2 should be removed

2.10c

326

1

In equation (11.11), delete extraneous "[rad]"

2.10d

328

11

In Example 11.5, "" should be ""

2.10c

328

6

In Example 11.5, "dotted" line is actually "dashdotted" line

2.11a

329

3,5

In the Figure 11.10 caption and Example 11.5 text, "dotted" line is actually "dashdotted" line

2.11a

330

2

In the caption for Figure 11.11, Fz should be F1

2.10c

334

0

In Figure 11.13a, curves should be labeled with z instead of b

2.10d

338

6

At end of Example 11.11, "the can be achieved" should be "that can be achieved"

2.10d

339

9

In expression for I_1, limits have an extra factor of i

2.10c

340

39

Contour integral in derivation of Bode's integral formula is analyzed incorrectly

2.10c

341

8

In Example 11.12, value for mg should be 39.2

2.11a

341

5

In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect

2.11b

342

5

In Example 11.12, error should be in , not

2.11a

342

13

In Example 11.12, after displayed equation for C_o(s), frequency where phase lead flattens out should be b_o/10

2.10d

342

16

In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect

2.11b

342

10

In Example 11.12, gain term in should be 2 instead of 0.8

2.11a

344

4

In Exercise 11.5, final expression for should be

2.11a

345

10

In Exercise 11.10, controller gain at frequency should be

2.10d

357

6, 8

For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)

2.10c

359

6, 4

In equation (12.13) and the displayed equation above it, T should be T

2.10d

361

13

Missing end parenthesis at end of sentence

2.10c

363

17

In Example 12.8, repeated in denominator of transfer function for should be

2.10d

365

13

The reference to the maximum complementary sensitivity should be to equation (12.7)

2.10c

366

16

In equation (12.16), a is not defined and a factor of a is missing in numerator the last term

2.10c

367

8

In equation (12.18), a factor of is missing from the numerator

2.10c

368

7

In equation (12.21), final term in expression for should be

2.10d

369

12

Replace "dashed" with "shaded" in the description of Figure 12.16a

2.10c

371

4

Reference to Figure 12.17b should be to Figure 12.17 (right)

2.10c

376

2

In Exercise 12.11, first term in numerator for should be

2.10d
