# Difference between revisions of "Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term"

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

− | | chapter = | + | | chapter = Robust Performance |

− | | page = | + | | page = 366 |

− | | line = | + | | line = -16 |

− | | contributor = | + | | contributor = Seoul National University |

− | | date = | + | | date = 7 Dec 2010 |

| rev = 2.10d | | rev = 2.10d | ||

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

| text = | | text = | ||

+ | The parameter <math>a</math> in this example is the same as the natural frequency <math>\omega_0</math> in Example 9.9 (the change in notation is needed later in the problem). In addition, the right hand side of the expression for the controller transfer function is missing a factor of <math>a</math>: | ||

+ | <center><amsmath> | ||

+ | C(s) = \frac{k_d s^2 + k_p s + k_i}{s} | ||

+ | = \frac{k_i}{s} \frac{s^2 + 2\zeta {\color{blue} a} s + a^2}{a^2} | ||

+ | </amsmath></center> | ||

}} | }} |

## Latest revision as of 06:48, 29 August 2011

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Location: page 366, line -16

The parameter in this example is the same as the natural frequency in Example 9.9 (the change in notation is needed later in the problem). In addition, the right hand side of the expression for the controller transfer function is missing a factor of :

(Contributed by Seoul National University, 7 Dec 2010)