|
|
Line 57: |
Line 57: |
| {{errata item|page=311|line=-3|title=Missing ydot after equation (10.16)}} | | {{errata item|page=311|line=-3|title=Missing ydot after equation (10.16)}} |
| {{errata item|page=314|line=-5|title=Dynamics for x_2 should test for e less than e_0, not e less than 1}} | | {{errata item|page=314|line=-5|title=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|page=319|line=0|title=Arrow labeled u_fd in Figure 11.3 is in the wrong direction}} | | {{errata item|page=319|line=0|title=Arrow labeled u_fd in Figure 11.3 is in the wrong direction}} |
| {{errata item|page=319|line=-7|title=Extraneous text "!design" in Chapter 12}} | | {{errata item|page=319|line=-7|title=Extraneous text "!design" in Chapter 12}} |
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
|
80
|
5
|
In Equation (3.19), the second term in the window dynamics should contain \rho c
|
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
|
107
|
12-23
|
Closed loop dynamics matrix is incorrect in Example 4.6
|
N/A
|
108
|
8
|
Missing γ in equation (4.9)
|
N/A
|
110
|
11, 13
|
In Example 4.8, the linearized dynamics should contain 3 r_e, not 2 r_e
|
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
|
165
|
16
|
In Exercise 5.8, the initial condition is x_0
|
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
|
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
|
N/A
|
184
|
-10
|
In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one
|
N/A
|
188
|
-2
|
Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries
|
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
|
315
|
-8
|
Extraneous 'LDH' and comment in the text
|
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
|