| Page
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Line
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Erratum
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Version
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| 10
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-1
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In the "Instrumentation" subsection, "axon of the giant squid" should be "giant axon of the squid"
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2.10c
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| 37
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4
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In Example 2.1, the state space equations for the balance system are missing a divisor of J_t in one of the terms
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2.10c
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| 38
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20, 21
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In equation (2.12),  should be x[0] (twice)
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2.10e
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| 40
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2
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In Figure 2.7, the coefficients are for an update period of one day
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2.10c
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| 42
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2
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In Figure 2.9, "solid" and "dashed" should be swapped
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2.10e
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| 43
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12
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In displayed equation for  , leading minus sign is missing from rightmost expression
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2.10d
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| 47
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-6
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In Example 2.5, expression for the step response is missing some factors
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2.10d
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| 49
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-8 to -4
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In Example 2.7, q should be replaced by p (three places) and theta (one place)
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2.10d
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| 61
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-4
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In Exercise 2.3, disrete should be discrete
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2.10e
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| 62
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-10
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In Exercise 2.4, a = 0.25 should be a = 0.75
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2.10e
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| 84
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11
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In the online version of the text, there is a formatting error in equation (3.23)
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2.10c
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| 86
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-1
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In equation (3.26), q_0 is not defined
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2.10c
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| 100
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-6
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In Example 4.4, second simplifying assumption should be l/J_t = 1 (remove extra factor of m)
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2.10d
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| 105
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-3
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On right hand side of displayed equation, x should be x_j
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2.10c
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| 107
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-7
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At the end of Example 4.6, the roots should have negative real part instead of being positive
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2.10d
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| 110
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-5
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Near end of Example 4.11, denominator of f'(z_2e) term should be squared
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2.10d
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| 113
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-14
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In Example 4.10, \dot V = 0 should be treated as negative semidefinite, not positive
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2.10d
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| 116
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3,6
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In Example 4.11, Lyapunov equation entries for f'_1 and f'_2 are switched (solution is correct)
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2.10d
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| 121
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10
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In Example 4.13, inequality should be for x_1 instead of x_2
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2.10c
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| 127
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4
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In Exercise 4.2, the q_in term should be positive
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2.10d
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| 128
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6
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In Exercise 4.12, some additional assumptions are required for oscillation
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2.10e
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| 132
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1
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Add a comma after "For other systems" for clarity
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2.10c
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| 135
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10
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In displayed equation above equation (5.5), there is an extraneous infinity symbol after the summation
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2.10f
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| 138
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14
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In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping
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2.10d
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| 138
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-11
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In Example 5.3, omega_d should have terms in the square root reversed
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2.11b
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| 140
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0
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In Figure 5.3, state labels are incorrect
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2.10e
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| 140
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-7
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In displayed equation after equation (5.11), exponential is missing parenthesis; should be 
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2.10d
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| 141
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-4, -8
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In Example 5.4, there is a sign error in one of the terms
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2.10c
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| 145
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8-9
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At end of Example 5.5, eigenvalue approximations are incorrect
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2.10d
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| 145
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8-9
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At end of Example 5.5, real part of eigenvalues has incorrect sign
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2.10e
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| 147
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10-15
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Impulse response does not include the direct term in the proper manner
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2.11b
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| 148
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2
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In the caption for Figure 5.7, "drive" should be "driven"
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2.10c
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| 157
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7
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In equation (5.26), the u(k) term in the integral should be u(tau)
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2.10c
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| 158
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13, 22
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In Example 5.11, the parameter  should be 
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2.11b
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| 158
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-8
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After equation (5.31), rolling friction term disappears if v = 0
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2.10c
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| 158
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-7
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After equation (5.31), the equilibrium velocity should be  m/s
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2.11b
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| 158
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-5
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After equation (5.31), the parameter  listed in the text should be 
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2.11b
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| 161
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3
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In Example 5.12, expression non-equilibrium condition has wrong symbols
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2.10d
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| 162
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7
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In equation (5.37), the parameter should be
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2.11b
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| 163
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10
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In equation (5.39), Coriolis term should be + C(q, \dot q)
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2.10d
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| 165
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-4
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In Exercise 5.8d, the left hand side of the first equation should be x(k+1)
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2.10c
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| 178
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-12
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In Example 6.4, the initial control signal is u(0) = k_r r = \omega_c^2 r
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2.11b
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| 179
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-12
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In equation (6.17), elements of the output matrix should be in the opposite order
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2.10d
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| 179
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-8
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In displayed equation after equation (6.17), a_l should be a_1
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2.10d
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| 182
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16-20, 25
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In Example 6.5, reference variable should be L_d instead of r
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2.10d
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| 182
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3
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In Example 6.5, definitions of z1 and z2 are switched
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2.11a
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| 182
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17
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In second line of displayed equation, missing minus sign in front of the gain matrix
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2.10d
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| 182
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21
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In the last paragraph of Example 6.5, r_h should be u
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2.10d
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| 183
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4
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In the caption for Figure 6.7, L_e=20 should be L_e=30
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2.10d
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| 183
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-7
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In equation (6.22),  should be 
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2.11b
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| 184
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17
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For underdamped second order system, eigenvalues are listed incorrectly
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2.10d
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| 185
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-3
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The formula given for the rise time of a second order system in Table 6.1 is only approximate
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2.11a
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| 186
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5
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Before Example 6.6, "is Q-value" should be "its Q-value"
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2.10d
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| 186
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-3
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In Example 6.6, the output equation has 'x' for the state instead of 'c'
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2.10c
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| 188
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-2
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In Example 6.7, the A matrix has an error in the (3,3) entry
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2.11b
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| 189
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5
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In Example 6.7, the open loop eigenvalues are incorrect
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2.11b
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| 189
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15
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In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i
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2.10d
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| 191
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-5
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In Example 6.8, the state space dynamics have errors in the trigonometric terms
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2.10c
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| 192
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4-14
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In Example 6.8, the state error should be \xi and the input should be F
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2.10d
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| 192
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-15
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Diagonal entries for Q_v should be rho
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2.10c
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| 196
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19, 23
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In Example 6.10, the system input for the linearized model should be w instead of u
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2.11a
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| 196
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-1
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In Example 6.10, the reference gain should be k_r = a_1/b
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2.11b
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| 204
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6
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In Example 7.1, the output equation has 'x' for the state instead of 'c'
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2.10c
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| 206
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2
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In expression for W_0, (3, 1) entry should be  (remove factor of  in second term)
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2.10c
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| 207
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13
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"going zero" → "going to zero"
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2.10d
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| 213
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8
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Estimator dynamics in Theorem 7.3 are missing B k_r r term
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2.10c
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| 217
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-6, -5
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In Example 7.5, descriptions for  (disturbance) and  are switched
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2.10c
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| 219
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-5
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Change gain matrix  to  for consistency
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2.10d
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| 220
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17
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In expression for B(t), missing parenthesis at end of subscripted expression
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2.11a
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| 220
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-12
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Above displayed equation for the gain scheduled control law,  should be replaced by 
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2.10d
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| 221
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-15
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In Example 7.5, "where were" → "which were"
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2.10d
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| 224
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4
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Output in Kalman decomposition for Example 7.7 is missing state error term
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2.10c
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| 225
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-4
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"phenomena knows" → "phenomena known"
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2.10c
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| 229
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10
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Henrik Bode should be Hendrik Bode
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2.11a
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| 233
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-8
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In equation (8.6), matrix inverse is computed incorrectly
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2.10d
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| 235
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14
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In displayed equation above equation (8.9), exponential term on right hand side should be  (no minus sign)
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2.10d
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| 238
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-9
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In equation (8.15), second order partial derivative is written incorrectly
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2.10c
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| 238
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-1
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In Example 8.4, boundary condition and coefficients for psi(x) are incorrect
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2.10c
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| 241
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-12
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Before Example 8.5, "related" → "relate"
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2.10d
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| 242
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7
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In Example 8.5, leading term in denominator for H_\theta F should be cubic in s
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2.10d
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| 247
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2
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In Example 8.6, numerator gain term for G_ur should be k_r instead of k_1
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2.10d
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| 247
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11
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Last equation in Example 8.6 has sign error in the second term
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2.10c
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| 247
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11
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Last equation in Example 8.6 has errors in numerator expressions
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2.10d
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| 249
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6
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In Example 8.7, remove  from numerator of expression for 
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2.10d
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| 256
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-10,-9
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In Example 8.9, u should be v in the first displayed equation and the following line
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2.11a
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| 262
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-2
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In Exercise 8.2, text should read "transfer function from  to  " (instead of  )
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2.10d
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| 263
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-13
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In Exercise 8.5, k in the denominator of G(s) should be (k+1)
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2.10c
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| 264
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9
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In Exercise 8.6, second term in expression for b_n should be   
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2.10d
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| 272
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10, 11
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In the paragraph above Example 9.3, G(*) should be L(*)
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2.11a
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| 272
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-1
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In Example 9.3, intersection of negative real axis should be at  -0.5.
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2.10d
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| 273
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-5
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In Example 9.4, "that that" → "that"
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2.10d
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| 274
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-2
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In right hand expression of last displayed equation of Example 9.4,  in the denominator should be 
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2.10d
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| 275
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1
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In the caption for Figure 9.7, the transfer function should match equation (9.4)
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2.11a
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| 275
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3
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In caption for Figure 9.7, "intersections" → "intersects"
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2.10d
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| 275
|
-5
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In Example 9.5, "it is seems" → "it seems
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2.10d
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| 282
|
-11, -9
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In Example 9.9, 'gain margin' g_m should be 'stability margin' s_m
|
2.10d
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| 282
|
-7
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In Example 9.9, the gain margin for Figure 9.12 should be 
|
2.10d
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| 283
|
12
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In equation (9.8), the right hand side should be evaluated at omega0
|
2.11a
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| 283
|
-6
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Missing parenthesis in   
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2.10d
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| 284
|
-13
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In Example 9.10, transfer function zero is at   
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2.10d
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| 289
|
7
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In equation (9.14),  should be 
|
2.10d
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| 292*
|
10
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In Exercise 9.7,  should be 
|
2.11a
|
| 296
|
1
|
Caption for Figure 10.3b should be "Derivative action"
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2.10c
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| 297
|
11
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After equation (10.5), low frequency limit bound be 1/T_d instead of T_d
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2.10c
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| 299
|
-10
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Closed loop time constant after equation (10.6) has an extra factor of 2
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2.11a
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| 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)
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2.10d
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| 302
|
0
|
In Figure 10.7b,  should be 
|
2.10c
|
| 304
|
-8
|
In Example 10.4, z should be zeta
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2.11a
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| 304
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-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
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In equation (10.4), upper limit of the integral should be t, not infinity
|
2.11a
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| 310
|
-4
|
The expressions for the PID parameters for the op amp implementation are incorrect
|
2.10d
|
| 318
|
-4 to -1
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Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
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2.10c
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| 319
|
0
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In Figure 11.3, the label 'y' at the input to P_2 should be removed
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2.10c
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| 326
|
-1
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In equation (11.11), delete extraneous "[rad]"
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2.10d
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| 328
|
-11
|
In Example 11.5, " " should be " "
|
2.10c
|
| 328
|
-6
|
In Example 11.5, "dotted" line is actually "dash-dotted" line
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2.11a
|
| 329
|
3,5
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In the Figure 11.10 caption and Example 11.5 text, "dotted" line is actually "dash-dotted" line
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2.11a
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| 330
|
2
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In the caption for Figure 11.11, Fz should be F1
|
2.10c
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| 334
|
0
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In Figure 11.13a, curves should be labeled with z instead of b
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2.10d
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| 338
|
-6
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At end of Example 11.11, "the can be achieved" should be "that can be achieved"
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2.10d
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| 339
|
-9
|
In expression for I_1, limits have an extra factor of i
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2.10c
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| 340
|
3-9
|
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
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| 341
|
-5
|
In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect
|
2.11b
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| 342
|
5
|
In Example 11.12, error should be in  , not 
|
2.11a
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| 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
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| 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
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| 344
|
-4
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In Exercise 11.5, final expression for  should be 
|
2.11a
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| 345
|
-10
|
In Exercise 11.10, controller gain at frequency  should be  
|
2.10d
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| 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
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2.10d
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| 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  
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2.10d
|
with 
