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• After Example 6.8, reference to equation (6.20) should be equation (6.24)  + (Chanud Yasanayake)
• In Section 2.1, referred is misspelled  + (Chanud Yasanayake)
• In Section 9.1 there's a typo where it talks about Laplace transforms  + (Chanud Yasanayake)
• In Section 13.2, there's a grammatical issue in the discussion of system stability  + (Chanud Yasanayake)
• In discussion on algebraic loops in Section 3.2, there is an extra "be"  + (Chanud Yasanayake)
• In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3  + (Chanud Yasanayake)
• In Section 9.4 there's a sentence with an extra word  + (Chanud Yasanayake)
• In caption for Figure 5.11, "nonlinear systems" should be "nonlinear system"  + (Chanud Yasanayake)
• In Section 12.2, there is a typo in the equation for the approximate inverse of P(s)  + (Chanud Yasanayake)
• In Section 10.4, the Figure 10.14 caption has a grammatical error  + (Chanud Yasanayake)
• In the initial condition response portion of Section 3.2, there is an extra "show"  + (Chanud Yasanayake)
• Equation (2.11) has the wrong formula for the transfer function  + (Chanud Yasanayake)
• In Section 3.1, there is a typo for plurality  + (Chanud Yasanayake)
• In Section 12.7, there's a grammatical error where it talks about the closed loop system H i  + (Chanud Yasanayake)
• In Section 3.2, missing space after a period in description of phase portraits  + (Chanud Yasanayake)
• In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be 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)