Page

Line

Erratum

Version

19

11

The Wright brothers made their first successful flight in 1903, not 1905

2.9d

25

1

In Exercise 1.1, "loosing" should be "losing"

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 abb

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

1223

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 timeshifted solution

2.9d

126

5

In Exercise 4.1, tau should be defined as tt_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

144

4

In Example 5.5 and 5.6, m1 and m2 should be m

2.10a

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

147

0

The labels for v2 and v3 are misplaced in Figure 5.12

2.10a

148

1

In Example 5.5 and 5.6, m1 and m2 should be m

2.10a

149

8

In Examples 5.5 and 5.6, dynamics in modal form should use z, not x

2.9d

154

10

In Example 5.8, the third nodal equation should be deleted

2.10a

156

10

In AFM dynamics, c and k are missing subscript 2

2.9d

157

7

Missing factor of A in second term of equation (5.26)

2.10a

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 abb

2.9d

168

12

The control matrix in the equilibrium set should be 'B' instead of 'b'

2.10a

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

197

3

In Figure 6.15, reference velocity is v_r = 20 m/s

2.10a

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

206

10,11

In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"

2.9d

209

2

In Example 7.2, the observer gain is given by equation (7.11)

2.9d

214

13

In Example 7.4, hats are missing in displayed equation for u

2.10a

220

12

In computation of error dynamics, u_ff argument is missing

2.9d

220

13

Minus sign is missing in gain scheduled feedback

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

247

1

In section on pole/zero cancellations, pole and zero are at s = a

2.10a

248

1

In section on pole/zero cancellations, pole and zero are at s = a

2.10a

249

3

Location of the process pole is missing a zero in figure caption for cruise control example

2.9d

250

16

Missing parenthesis in exponential for output signal

2.10a

253

1

In description of Bode plot for second order transfer function, 'a' should be omega_0

2.10a

254

12

In description of Bode plot for second order transfer function, 'a' should be omega_0

2.10a

2545

10 to 9

In Example 8.8, explanation of effects of poles and zeros is incorrect and confusing

2.10a

256

1

Caption for Figure 8.15b is missing an s in the numerator

2.9d

257

5

In Example 8.9, the expression for sigma is not correct

2.10a

272

8

Before Example 9.3, range of theta should be pi/2 to pi/2

2.10a

277

13

In Theorem 9.3, N should be Z

2.9d

278

3

Missing factor of 2 pi in residue formula for proof of Theorem 9.3

2.10a

288

3

Exponential signal is incorrect on the lefthand 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

378

15,16

Bennett's books on the history of control were published in 1979 and 1993

2.10a
