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

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(Created page with "{{subst:errata template}}")
 
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{{errata page
 
{{errata page
| chapter =  
+
| chapter = PID Control
| page =  
+
| page = 309
| line =  
+
| line = 9
| contributor = R. M. Murray
+
| contributor = A. Tits
| date =  
+
| date = 22 Nov 2010
| rev = 2.10e
+
| 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

math

(Contributed by A. Tits, 22 Nov 2010)