Difference between revisions of "Errata"
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{{errata typo|rev=2.10c|page=10|line=-1|title=In the "Instrumentation" subsection, "axon of the giant squid" should be "giant axon of the squid"}} | {{errata typo|rev=2.10c|page=10|line=-1|title=In the "Instrumentation" subsection, "axon of the giant squid" should be "giant axon of the squid"}} | ||
{{errata item|rev=2.10c|page=37|line=4|title=In Example 2.1, the state space equations for the balance system are missing a divisor of J_t in one of the terms}} | {{errata item|rev=2.10c|page=37|line=4|title=In Example 2.1, the state space equations for the balance system are missing a divisor of J_t in one of the terms}} | ||
− | {{errata typo|rev=2.10e|page=38|line=20, 21|title=In equation (2.12), <amsmath>x_0</amsmath> should be x[0]}} | + | {{errata typo|rev=2.10e|page=38|line=20, 21|title=In equation (2.12), <amsmath>x_0</amsmath> should be x[0] (twice)}} |
{{errata item|rev=2.10c|page=40|line=2|title=In Figure 2.7, the coefficients are for an update period of one day}} | {{errata item|rev=2.10c|page=40|line=2|title=In Figure 2.7, the coefficients are for an update period of one day}} | ||
{{errata typo|rev=2.10d|page=43|line=12|title=In displayed equation for <amsmath>\dot{x_2} = 0</amsmath>, leading minus sign is missing from rightmost expression}} | {{errata typo|rev=2.10d|page=43|line=12|title=In displayed equation for <amsmath>\dot{x_2} = 0</amsmath>, leading minus sign is missing from rightmost expression}} |
Revision as of 17:39, 10 August 2012
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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; clicking on the link will take you to a page with additional details. Typos and other relatively minor corrections are listed here but do not have separate pages with additional details (they also do not appear on individual chapter pages).
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.
Third printing
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), ![]() |
2.10e |
40 | 2 | In Figure 2.7, the coefficients are for an update period of one day | 2.10c |
43 | 12 | In displayed equation for ![]() |
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 |
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 |
132 | 1 | Add a comma after "For other systems" for clarity | 2.10c |
138 | 14 | In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping | 2.10d |
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 | 8-9 | At end of Example 5.5, eigenvalue approximations are incorrect | 2.10d |
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 | -8 | After equation (5.31), rolling friction term disappears if v = 0 | 2.10c |
161 | 3 | In Example 5.12, expression non-equilibrium condition has wrong symbols | 2.10d |
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 |
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 | 16-20, 25 | In Example 6.5, reference variable should be L_d instead of r | 2.10d |
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 |
184 | 17 | For underdamped second order system, eigenvalues are listed incorrectly | 2.10d |
186 | 5 | Before Example 6.6, "is Q-value" should be "its Q-value" | 2.10d |
186 | -3 | In Example 6.6, the output equation has 'x' for the state instead of 'c' | 2.10c |
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 | 4-14 | 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 |
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 ![]() ![]() |
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 ![]() ![]() |
2.10c |
219 | -5 | Change gain matrix ![]() ![]() |
2.10d |
220 | =12 | Above displayed equation for the gain scheduled control law, ![]() ![]() |
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 |
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 ![]() |
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 ![]() ![]() |
2.10d |
262 | -2 | In Exercise 8.2, text should read "transfer function from ![]() ![]() ![]() |
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 | -1 | In Example 9.3, intersection of negative real axis should be at ![]() |
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, ![]() ![]() |
2.10d |
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 | -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), ![]() ![]() |
2.10d |
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 |
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 ![]() |
2.10d |
302 | 0 | In Figure 10.7b, ![]() ![]() |
2.10c |
304 | -1 | In Example 10.4, proportional gain ![]() ![]() |
2.10d |
308 | -9 | In Section 10.5, PID derivative filter should have time constant ![]() |
2.10d |
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, "![]() ![]() |
2.10c |
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 | 3-9 | Contour integral in derivation of Bode's integral formula is analyzed incorrectly | 2.10c |
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 |
345 | -10 | In Exercise 11.10, controller gain at frequency ![]() ![]() ![]() ![]() |
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 ![]() ![]() ![]() |
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 ![]() |
2.10c |
368 | 7 | In equation (12.21), final term in expression for ![]() ![]() |
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 ![]() ![]() ![]() ![]() |
2.10d |