View source for Errata: In equation (10.4), upper limit of the integral should be t, not infinity

{{errata page
| chapter = PID Control
| page = 309
| line = 9
| contributor = A. Tits
| date = 22 Nov 2010
| rev = 2.11a
| version = Third printing
| text = The upper limit of the integral term is incorrect.  The correct expression is
<center><amsmath>
 u =
   k_p\bigl( \beta r-y \bigr) + k_i \int_0^{{\color{blue}t}} \bigl( r(\tau) -
   y(\tau) \bigr)\, d\tau + k_d \Bigl( \gamma\frac{dr}{dt} -
   \frac{dy}{dt} \Bigr),
</amsmath></center>
}}