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This page contains information about errata for Feedback Systems. The errata listed here include all known and corrected errors since the first printing of the book.


  • 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 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.

Page Line Erratum Version
106   7   Solution for x_2j in block diagonal form discussion has sign errors N/A
108   8   Missing γ in equation (4.9) 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
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
169   -12   In heuristic derivation of reachability test, α is missing subscript N/A
181   9   Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment 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   -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
277   13   In Theorem 9.3, N should be Z N/A
311   -3   Missing ydot after equation (10.16) 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
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