Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly

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Location: page 318, line -4 to -1

In Figure 11.2, the controller has input and output , resulting in a 1x1 transfer function for math. The (generalized) process dynamics has outputs and and inputs and . So the proper dimension of the matrix transfer function math is 5 x 3.

The updated text should read

If we omit the reference input , the system in Figure 11.1 can be captured by choosing and . The process transfer function math is a 5 x 3 matrix, and the controller transfer function math is a 1 x 1 matrix; compare with Exercise 11.3.

(Contributed by R. M. Murray, A. Aryanfar, 5 Jul 2011)