# Difference between revisions of "Errata: In equation (10.4), upper limit of the integral should be t, not infinity"

From FBSwiki

(Created page with "{{subst:errata template}}") |
|||

Line 1: | Line 1: | ||

{{errata page | {{errata page | ||

− | | chapter = | + | | chapter = PID Control |

− | | page = | + | | page = 309 |

− | | line = | + | | line = 9 |

− | | contributor = | + | | contributor = A. Tits |

− | | date = | + | | date = 22 Nov 2010 |

− | | rev = 2. | + | | rev = 2.11 |

| version = Third printing | | version = Third printing | ||

− | | text = | + | | 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> | ||

}} | }} |

## Revision as of 04:21, 29 September 2012

Return to Errata page |

Location: page 309, line 9

The upper limit of the integral term is incorrect. The correct expression is

(Contributed by A. Tits, 22 Nov 2010)