Difference between revisions of "Errata: In equation (10.4), upper limit of the integral should be t, not infinity"
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<center><amsmath> | <center><amsmath> | ||
u = | u = | ||
| − | k_p\bigl( \beta r-y \bigr) + k_i \int_0^{{\color{blue}t} | + | 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} - | y(\tau) \bigr)\, d\tau + k_d \Bigl( \gamma\frac{dr}{dt} - | ||
\frac{dy}{dt} \Bigr), | \frac{dy}{dt} \Bigr), | ||
</amsmath></center> | </amsmath></center> | ||
}} | }} | ||
Revision as of 04:22, 29 September 2012
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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)
