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

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Line 10: Line 10:
 
<center><amsmath>
 
<center><amsmath>
 
  u =
 
  u =
   k_p\bigl( \beta r-y \bigr) + k_i \int_0^{{\color{blue}t}] \bigl( r(\tau) -
+
   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

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)