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In Section 3.1, there is a typo for plurality | 3-10 | | Second | In Section 3.1, there is a typo for plurality |

In Section 3.2, "stiction" should be "friction" | 3-2 | | Second | In Section 3.2, "stiction" should be "friction" |

In Section 3.2, just before Simulation and Analysis subsection, "different" should be "difference" | 3-20 | | Second | In Section 3.2, just before Simulation and Analysis subsection, "different" should be "difference" |

In Section 3.2, missing space after a period in description of phase portraits | 3-3 | | Second | In Section 3.2, missing space after a period in description of phase portraits |

In Section 6.3, there is a discrepancy between variables for discrete/continuous | 6-27 | | Second | In Section 6.3, there is a discrepancy between variables for discrete/continuous |

In Section 9.1 there's a typo where it talks about Laplace transforms | 9-2 | | Second | In Section 9.1 there's a typo where it talks about Laplace transforms |

In Section 9.3 there are equations that use the variable 'n' when it should be 'w' | 9-15 | | Second | In Section 9.3 there are equations that use the variable 'n' when it should be 'w' |

In Section 9.3 there's a missing comma | 9-16 | | Second | In Section 9.3 there's a missing comma |

In Section 9.3 there's a misspelling | 9-14 | | Second | In Section 9.3 there's a misspelling |

In Section 9.4 there's a sentence with a grammar issue | 9-23 | | Second | In Section 9.4 there's a sentence with a grammar issue |

In Section 9.4 there's a sentence with an extra word | 9-23 | | Second | In Section 9.4 there's a sentence with an extra word |

In caption for Figure 5.11, "nonlinear systems" should be "nonlinear system" | 5-15 | | Second | In caption for Figure 5.11, "nonlinear systems" should be "nonlinear system" |

In description of Krasovski–Lasalle invariance principle, "only" is repeated | 5-24 | | Second | In description of Krasovski–Lasalle invariance principle, "only" is repeated |

In discussion of proportional control in Section 2.2, missing v 0 in displayed equation | 2-9 | | Second | In discussion of proportional control in Section 2.2, missing v 0 in displayed equation |

In discussion on PI control in Section 2.2, incorrect formula for G yv when \omega is small | 2-11 | | Second | In discussion on PI control in Section 2.2, incorrect formula for G yv when \omega is small |

In discussion on algebraic loops in Section 3.2, there is an extra "be" | 3-10 | | Second | In discussion on algebraic loops in Section 3.2, there is an extra "be" |

In the air-fuel example in Section 1.8, missing reference to Figure 1.16b | 1-23 | | Second | In the air-fuel example in Section 1.8, missing reference to Figure 1.16b |

In the initial condition response portion of Section 3.2, there is an extra "show" | 6-6 | | Second | In the initial condition response portion of Section 3.2, there is an extra "show" |

In the paper mill description in Section 1.8, "production unit" should be "production units" | 1-25 | | Second | In the paper mill description in Section 1.8, "production unit" should be "production units" |

Missing space in the statement of Theorem 5.2 | 5-18 | | Second | Missing space in the statement of Theorem 5.2 |

Original Ziegler-Nichols gains listed after improved tuning rules are incorrect | 11-13 | | Second | Original Ziegler-Nichols gains listed after improved tuning rules are incorrect |

Theorem 5.1 has an extra "all" | 5-13 | | Second | Theorem 5.1 has an extra "all" |

Updated tuning rules are incorrect in equation (11.10b) | 11-13 | | Second | Updated tuning rules are incorrect in equation (11.10b) |

Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paper | 11-12 | | Second | Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paper |