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• At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve"  + (Chanud Yasanayake)
• In Section 3.2, "stiction" should be "friction"  + (Chanud Yasanayake)
• In Section 12.1, the additional transfer functions for the F != 1 case seem to be incorrect  + (Chanud Yasanayake)
• In Section 2.1, there is a typo in the discussion of solving for an exponential input  + (Chanud Yasanayake)
• In Section 12.7, there's a typo in the discussion of inner/outer loop design  + (Chanud Yasanayake)
• In Section 12.2, there is a singular vs. plural error when talking about the control signal  + (Chanud Yasanayake)
• In Section 9.3 there's a missing comma  + (Chanud Yasanayake)
• In Section 13.3, the word "response" is duplicated  + (Chanud Yasanayake)
• Caption of Figure 4.3 has grammatical error  + (Chanud Yasanayake)
• In Section 12.3, there is a missing space  + (Chanud Yasanayake)
• In Section 10.2, part of Figure 10.5 seems to be missing  + (Chanud Yasanayake)
• In description of Krasovski–Lasalle invariance principle, "only" is repeated  + (Chanud Yasanayake)
• In discussion on PI control in Section 2.2, incorrect formula for G yv when \omega is small  + (Chanud Yasanayake)
• In Section 11.4, the Figure 11.10 caption has a typo  + (Chanud Yasanayake)
• In Section 1.8, breaking should be braking  + (Chanud Yasanayake)
• In Section 12.6, a sentence in Theorem 12.2 is grammatically incorrect  + (Chanud Yasanayake)
• Demoninator of equation (3.27) should be r c  + (E. Choinière)

• Equation 2.11 is not equal to the preceding expression from which it came  + (Kai Kirk)
• In Equation 10.1, there's a typo 0 instead of ')'  + (Kai Kirk)
• In Equation 7.2, dot is over the subscript  + (Kai Kirk)
• In Example 6.8, signalsith should be signals with  + (Kai Kirk)
• In Exercise 7.12, it refers to 'Exercise ??.'  + (Kai Kirk)
• In Problem 6.8, discrete time system does not progress  + (Kai Kirk)
• In Section 1.7, there is a typo/missing word near the end of the section  + (Kai Kirk)
• In Section 1.8 text on paper mills, "production unit" should be "production units"  + (Kai Kirk)
• In Section 2.2, one too many parentheses in an expression for y(t)  + (Kai Kirk)
• In Section 6.3, there is a discrepancy between variables for discrete/continuous  + (Kai Kirk)
• In the paper mill description in Section 1.8, "production unit" should be "production units"  + (Kai Kirk)

• In the air-fuel example in Section 1.8, missing reference to Figure 1.16b  + (Kirk Kai)
• Display equation above equation (2.12) has extra set of parentheses  + (Kirk Kai)
• In Example 13.6 (Vinnicombe metric), the formula for conjugate point is missing a minus sign  + (Richard Murray)
• Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paper  + (Richard Murray)
• Original Ziegler-Nichols gains listed after improved tuning rules are incorrect  + (Richard Murray)
• Updated tuning rules are incorrect in equation (11.10b)  + (Richard Murray)