View source for Errata: Estimator dynamics in Theorem 7.3 are missing B k r r term

{{errata page
| chapter = Output Feedback
| page = 213
| line = 8
| contributor = R. Bitmead
| date = 12 May 2010
| rev = 2.10c
| version = Third printing
| text = 
The dynamics for the estimated state are missing a term corresponding to the reference input.  The correct equations are
<center><amsmath>
  \frac{d\hat x}{ dt} =A\hat x + Bu +L(y-C\hat x)=(A-BK-LC)\hat x + 
  B k_r r + L y.
</amsmath></center>
}}