Errata: Dimensions of generalized process transfer function matrix should be 5x3

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Location: page 318, line -2

The (generalized) process dynamics has outputs and and inputs and . So the proper dimension of the matrix transfer function math is 5 x 3.

The (generalized) controller dynamics is a 1 x 1 transfer function in this case, since there is no reference input in Figure 11.2 (see related errata).

(Contributed by A. Aryanfar, 26 Nov 2010)