Information for authors

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This page has useful information intended for authors of supplements and pages on this wiki.

Quick Links:

Book Planning

These pages have been created for use in planning out the contents of the book and the wiki:


A number of templates have been created for use on this wiki.

  • {{urlcite | citation | url}} - create a citation link from a URL. The citation should be of the form 'Author, Year' and will be displayed with surrounding parenthesis, and a link to the URL. Example: (Murray (ed), 2003).
  • {{bibcite | citation}} - create a link to the bibliography, pointing to the listed citation. This form should be used for citations to references that are listed in the wiki bibliography.
  • {{chlink | Chapter Title}} - this creates a chapter, including the chapter number and title. This form should be used instead of include a specific chapter number in a link (which could change).


Categories are used extensively throughout the wiki to allow various lists to be generated, including Frequently Asked Questions, Errata and Additional Exercises.


A few choices of terminology have been made to provide consistency throughout the wiki. This section collects some of the more common items. The following pages may also be helpful:


  • Chapter titles use title capitalization (major words capitalized)
  • FAQs, exercises: only the first word should be caplitalized


  • Equations: use the equation number in parenthesis as an adjective - equation (5.2). This can be done using equation~\eqref{label}.
  • Figures: use Figure 5.2. This can be done using the \figref{label} command

Word/terminlogy choices

  • Exercises: use this instead of homework or HW
  • PID and variants: when writing these out in words, we use "proportional-integral (PI)", "proportional-derivative (PD)" or "proportional-integral-derivative (PID)".
  • Derivatives: use math when equations are inline, otherwise use

    The latter should be generated using the \fder{x}{t} macro, so that we can find them easily. Two exceptions are linear differential equations, which we typically write as


    and second order differential equations, which we will typically write as

  • We use the term "zero frequency gain" to define the gain of a transfer function at . This is to avoid the term "DC gain" (which only makes sense for EEs) and "steady state gain" (which is confusing because we talk about the steady state frequency response). --RMM 10:10, 24 July 2006 (PDT)

Sign conventions

  • The error for an output tracking compensator is e = x_d - x (consistent with the classical control convention)
  • A PID controller then becomes
  • A state space controller is given by or if .

Program names

  • MATLAB and SIMULINK are all caps. Use the \matlab{} and \simulink{} commands to generate this text.
  • All other programs are capitalized (Mathematica, Octave, Scilab)


  • Use for the unit imaginary number and --Richard Murray 11:03, 5 April 2008 (PDT)
  • Use math for phi (instead of ) --RMM 09:56, 24 July 2006 (PDT)

Frequently Asked Questions