View source for Errata: Last equation in Example 8.6 has sign error in the second term

{{errata page
| chapter = Transfer Functions
| page = 247
| line = 11
| contributor = A. Tits
| date = 4 Nov 2010
| rev = 2.10c
| version = Third printing
| text = 
In the last displayed equation of this example, there is a sign error in the term <math>1 + P(s) G_{uy}(s)</math> that appears in the denominator.  Because the compensator <math>G_{uy}</math> is in the feedback path and there is ''not'' a negative gain term in the loop, the correct expression is
<center><amsmath>
  G_{y r} = \frac{P(s) {\color{blue} G_{ur}(s)}}{1 {\color{blue} -} P(s) G_{uy}(s)} 
    = \frac{{\color{blue} k_r} (\gamma s + 1)}{s^2 + (k_1 \gamma + k_2) s + k_1}.
</amsmath></center>
(additional errors reported [[Errata: Last equation in Example 8.6 has errors in numerator expressions|here]] are also shown).  Note that the right hand side of the equation is unchanged; the negative sign in the expression for <math>G_{uy}</math> (at the end of the previous page) cancels out.
}}