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- 10 Feb 06 Meeting Notes
- 13 Jan 06 Meeting Notes
- 14 Mar 06 Meeting Notes
- 23 Apr 06 Meeting Notes
- AM05 Changes
- AM05 Pending
- ASCC 2009 Workshop
- Action Items
- Additional Examples
- Additional Exercises
- After Example 3.4, difference equation should be difference equations
- After Example 6.8, reference to equation (6.20) should be equation (6.24)
- Appendices
- Applications and Examples
- Archived news
- Asymptotic stability of a nonlinear, damped, mass spring system
- At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve"
- Atomic force microscope
- BFS:Archived news
- Balance systems
- Ball and beam system
- Bibliography
- Bicycle dynamics
- Caltech CDS 101/110
- Caption of Figure 4.3 has grammatical error
- Citation information
- Compartment model
- Congestion control
- Course syllabus suggestions
- Cruise control
- Delta-sigma converter
- Demoninator of equation (3.27) should be r c
- Display equation above equation (2.12) has extra set of parentheses
- Dynamic Behavior
- E-book
- Equation (2.11) has the wrong formula for the transfer function
- Equation 2.11 is not equal to the preceding expression from which it came
- Errata
- Errata: "Assigning a closed loop zero" should be "assigning a closed loop pole"
- Errata: A21 entry for op amp dynamics should have a negative sign
- Errata: After equation (10.5), low frequency limit bound be 1/T d instead of T d
- Errata: After equation (12.23), generalized error is z, not w
- Errata: After equation (5.31), rolling friction term disappears if v = 0
- Errata: Arrow labeled u fd in Figure 11.3 is in the wrong direction
- Errata: At end of Example 5.5, eigenvalue approximations are incorrect
- Errata: At end of Example 5.5, real part of eigenvalues has incorrect sign
- Errata: At the end of Example 4.6, the roots should have negative real part instead of being positive
- Errata: Before Example 9.3, range of theta should be -pi/2 to pi/2
- Errata: Bennett's books on the history of control were published in 1979 and 1993
- Errata: Caption for Figure 10.3b should be "Derivative action"
- Errata: Caption for Figure 12.4 doesn't quite match figure
- Errata: Caption for Figure 8.15b is missing an s in the numerator
- Errata: Closed loop dynamics matrix is incorrect in Example 4.6
- Errata: Closed loop time constant after equation (10.6) has an extra factor of 2
- Errata: Contour integral in derivation of Bode's integral formula is analyzed incorrectly
- Errata: Denominator of vectored thrust process model should be Js^2
- Errata: Diagonal entries for Q v should be rho
- Errata: Dimensions of generalized process transfer function matrix should be 5x3
- Errata: Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries
- Errata: Equation (3.24) should have c in the numerator instead of c0
- Errata: Equation (4.4) is labeled incorrectly
- Errata: Equation (5.15) is linear in the initial conditions and *input*
- Errata: Estimator dynamics in Theorem 7.3 are missing B k r r term
- Errata: Example 5.5 includes a damping term not shown in Figure 5.4
- Errata: Exercise 11.4 should be Example 11.4 in Exercise 11.9
- Errata: Explanation of the lack of zeros when B or C is full rank is confusing
- Errata: Exponential signal is incorrect on the left-hand side of harmonic expansion equation
- Errata: Extraneous 'LDH' and comment in the text
- Errata: Extraneous text "!design" in Chapter 12
- Errata: Extraneous text "!linear" in Section 5.1
- Errata: F R v F^T term dropped in proof of Theorem 7.4
- Errata: Figure 10.11 is missing filter on derivative term
- Errata: For Youla parameterization, P = b(s)/a(s) = B(s)/A(s) and C0 = G0(s)/F0(s)
- Errata: For underdamped second order system, eigenvalues are listed incorrectly
- Errata: Formula for Ged should not have the ' on dc and is missing a minus sign
- Errata: Formula for Ger should have the ' on dp, not dc
- Errata: Formula for k r in equation (6.21) of Theorem 6.3 is incorrect
- Errata: Global Lyapunov stability requires additional conditions
- Errata: Impulse response does not include the direct term in the proper manner
- Errata: In AFM dynamics, c and k are missing subscript 2
- Errata: In Equation (3.19), the second term in the window dynamics should contain \rho c
- Errata: In Example 11.12, transfer functions for inner loop and outer loop dynamics are incorrect
- Errata: In Example 11.9, the bound on the gain crossover frequency should be 6.48 rad/sec
- Errata: In Example 12.6, n = -1 should be n = 1
- Errata: In Example 12.8, controller zero is at s = 3.5
- Errata: In Example 12.8, process zero is at s = -2
- Errata: In Example 12.9, poles are at -a, -p1, -p2
- Errata: In Example 2.1, the state space equations for the balance system are missing a divisor of J t in one of the terms
- Errata: In Example 2.5, expression for the step response is missing some factors
- Errata: In Example 2.7, q should be replaced by p (three places) and theta (one place)
- Errata: In Example 4.11, Lyapunov equation entries for f' 1 and f' 2 are switched (solution is correct)
- Errata: In Example 4.11, Taylor series term is missing factor of 1/2
- Errata: In Example 4.13, inequality should be for x 1 instead of x 2
- Errata: In Example 4.6, u d is not computed correctly
- Errata: In Example 4.8, the linearized dynamics should contain 3 r e, not 2 r e
- Errata: In Example 4.9, V(x) should be V(z)
- Errata: In Example 5.12, expression non-equilibrium condition has wrong symbols
- Errata: In Example 5.3, dot missing from q in middle term of displayed equation for dynamics with damping
- Errata: In Example 5.3, omega d should have terms in the square root reversed
- Errata: In Example 5.4, there is a sign error in one of the terms
- Errata: In Example 5.5 and 5.6, m1 and m2 should be m
- Errata: In Example 5.8, the third nodal equation should be deleted
- Errata: In Example 6.10, the reference gain should be k r = a 1/b
- Errata: In Example 6.10, the system input for the linearized model should be w instead of u
- Errata: In Example 6.3, z 2 should be x 1/omega instead of x 2/omega
- Errata: In Example 6.5, definitions of z1 and z2 are switched
- Errata: In Example 6.5, reference variable should be L d instead of r
- Errata: In Example 6.6 and 7.1, the output equation has 'x' for the state instead of 'c'
- Errata: In Example 6.7, the A matrix has an error in the (3,4) entry
- Errata: In Example 6.7, the imaginary part of the first pair of eigenvalues is missing factor of i
- Errata: In Example 6.7, the open loop eigenvalues are incorrect
- Errata: In Example 6.8, the state error should be \xi and the input should be F
- Errata: In Example 6.8, the state space dynamics have errors in the trigonometric terms
- Errata: In Example 7.2, the observer gain is given by equation (7.11)
- Errata: In Example 7.4, hats are missing in displayed equation for u
- Errata: In Example 7.6, the coefficient in front of thetadot should be v/b
- Errata: In Example 8.3, a = 10 rad/s
- Errata: In Example 8.4, boundary condition and coefficients for psi(x) are incorrect
- Errata: In Example 8.5, leading term in denominator for H \theta F should be cubic in s
- Errata: In Example 8.5, q should be replaced by theta
- Errata: In Example 8.6, numerator gain term for G ur should be k r instead of k 1
- Errata: In Example 8.8, explanation of effects of poles and zeros is incorrect and confusing
- Errata: In Example 8.9, the expression for sigma is not correct
- Errata: In Example 9.10, there is an extra factor of a in the second term of the step response
- Errata: In Example 9.6, the critical gain is k = 0.5 instead of k = 1
- Errata: In Example 9.9, 'gain margin' g m should be 'stability margin' s m
- Errata: In Examples 5.5 and 5.6, dynamics in modal form should use z, not x
- Errata: In Exercise 10.1, the second term in the denominator should be kp not kd
- Errata: In Exercise 10.11, the dynamics for x 2 should test for e less than e 0, not e less than 1
- Errata: In Exercise 2.4, ''a'' = 0.25 should be ''a'' = 0.75
- Errata: In Exercise 2.7, reference to inverted pendulum may be confusing
- Errata: In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"
- Errata: In Exercise 4.1, tau should be defined as t-t 0
- Errata: In Exercise 4.1, x 0 should not be subtracted from time-shifted solution
- Errata: In Exercise 4.12, some additional assumptions are required for oscillation
- Errata: In Exercise 4.14c, the transformation T and its inverse are swapped
- Errata: In Exercise 4.2, a e should be a
- Errata: In Exercise 4.2, the q in term should be positive
- Errata: In Exercise 4.6, Pm/J should be taken as 1 and factor of 1/2 is misplaced
- Errata: In Exercise 5.7, the 5% settling time should be 3 tau instead of 2 tau
- Errata: In Exercise 5.8, the initial condition is x 0
- Errata: In Exercise 5.8d, the left hand side of the first equation should be x(k+1)
- Errata: In Exercise 6.13, R should be removed and rho should be rho 1
- Errata: In Exercise 6.4, need to assume A is invertible and C A^-1 B is nonzero
- Errata: In Exercise 7.11, output to check is the feedforward signal
- Errata: In Exercise 7.13, missing equals sign in covariance specification
- Errata: In Exercise 8.5, k in the denominator of G(s) should be (k+1)
- Errata: In Exercise 8.8, second transfer function should be G yn instead of G yd
- Errata: In Exercise 9.9, 10/a should be 1/tau
- Errata: In Exercises 2.4 and 5.9, the (2,1) entry of the dynamics matrix should be ab-b
- Errata: In Figure 1.11, caption refers to "numbers in circles" that are not present in figure
- Errata: In Figure 10.13, the indices on the resistors and capacitors are incorrect
- Errata: In Figure 11.3, the label 'y' at the input to P 2 should be removed
- Errata: In Figure 12.8, the signs of A and B are reversed
- Errata: In Figure 2.16, theta should be O
- Errata: In Figure 2.7, the coefficients are for an update period of one day
- Errata: In Figure 2.9, "solid" and "dashed" should be swapped
- Errata: In Figure 4.18, v and V should be v0
- Errata: In Figure 5.3, state labels are incorrect
- Errata: In Figure 8.15 and accompanying text a should be omega0
- Errata: In Figure 8.3, the gain falls off at omega = a R1 k / R2
- Errata: In Theorem 9.3, N should be Z
- Errata: In computation of error dynamics, u ff argument is missing
- Errata: In description of Bode plot for second order transfer function, 'a' should be omega 0
- Errata: In discussion on disturbance signals, "can" should be "cannot"
- Errata: In equation (10.4), upper limit of the integral should be t, not infinity
- Errata: In equation (12.13) and the displayed equation above it, T should be -T
- Errata: In equation (12.16), a is not defined and a factor of a is missing in numerator the last term
- Errata: In equation (3.26), q 0 is not defined
- Errata: In equation (3.27), the state used for the output should be c, not x
- Errata: In equation (5.26), the u(k) term in the integral should be u(tau)
- Errata: In equation (5.5), the upper limit of the integral should be t
- Errata: In equation (6.17), elements of the output matrix should be in the opposite order
- Errata: In equation (6.22), k omega^2 should be k omega 0^2
- Errata: In equation (6.24), the sign of the sin(omega t) term is incorrect for zeta less than one
- Errata: In equation (6.5), the 4, 3 entry of W r should be g m^2 l^2 M t/mu
- Errata: In equation (7.25), the last two endpoint equations are not correct
- Errata: In equation (8.15), second order partial derivative is written incorrectly
- Errata: In equation (8.6), matrix inverse is computed incorrectly
- Errata: In equation (9.8), the right hand side should be evaluated at omega0
- Errata: In expression for B(t), missing parenthesis at end of subscripted expression
- Errata: In expression for I 1, limits have an extra factor of i
- Errata: In heuristic derivation of reachability test, α is missing subscript
- Errata: In section on pole/zero cancellations, pole and zero are at s = -a
- Errata: In the caption for Figure 6.7, L e=20 should be L e=30
- Errata: In the caption for Figure 9.7, the transfer function should match equation (9.4)
- Errata: In the complex input u = exp(s t), s should be i omega, not i omega t
- Errata: In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"
- Errata: In the online version of the text, there is a formatting error in equation (3.23)
- Errata: In the paragraph above Example 9.3, G(*) should be L(*)
- Errata: Last equation in Example 8.6 has errors in numerator expressions
- Errata: Last equation in Example 8.6 has sign error in the second term
- Errata: Location of the process pole is missing a zero in figure caption for cruise control example
- Errata: Maximum sensitivity occurs at frequency omega ms not omega sc
- Errata: Minus sign is missing in gain scheduled feedback
- Errata: Missing 's' in expression for characteristic polynomial in discussion of eigenvalue assignment
- Errata: Missing factor of 2 pi in residue formula for proof of Theorem 9.3
- Errata: Missing factor of A in second term of equation (5.26)
- Errata: Missing factor of B in displayed equation after equation (5.28)
- Errata: Missing parenthesis in exponential for output signal
- Errata: Missing ydot after equation (10.16)
- Errata: Missing γ in equation (4.9)
- Errata: Near end of Example 4.11, denominator of f'(z 2e) term should be squared
- Errata: Numerator and denominator are switched in Exercise 11.11
- Errata: Numerical gains for Example 6.7 are incorrect
- Errata: Output in Kalman decomposition for Example 7.7 is missing state error term
- Errata: Parameter values are missing in Exercise 5.3
- Errata: Proportional gain in Example 11.4 transfer function should be kp
- Errata: Reference input not included in Figure 11.2 and dimensions of blocks are listed incorrectly
- Errata: Reference to equation (6.17) should be to equation (6.15)
- Errata: References to first and second equations are switched in computer implementation discussion
- Errata: Remove part (a) in Exercise 5.6
- Errata: Riemann sphere has radius (not diameter) 1
- Errata: Sign error in equation (8.17) - (sI - A) should be (A - sI)
- Errata: Sign error in second Lyapunov function in Exercise 4.4
- Errata: Solution for x 2j in block diagonal form discussion has sign errors
- Errata: State space dynamics in Exercise 3.5 are not correct
- Errata: T d should be T f in Exercise 11.9
- Errata: The PID integral time constant T i for the op amp implementation should be equal to R 2 C 2
- Errata: The Wright brothers made their first successful flight in 1903, not 1905
- Errata: The b k i term in the characteristic polynomial has an extra factor of s
- Errata: The expressions for the PID parameters for the op amp implementation are incorrect
- Errata: The formula given for the rise time of a second order system in Table 6.1 is only approximate
- Errata: The labels for v2 and v3 are misplaced in Figure 5.12
- Errata: The signal u ff should be u fr in the caption for Figure 11.3 and associated text
- Errata: Toward end of Section 10.4, k i should be k t
- Errata: Typo in the caption for Figure 4.15
- Errata: Values of zeta in the caption for Figure 6.8 don't match the figure
- Errata: d(P 1, P 2) is the longest chordal distance, not shortest
- Errata location
- Examples
- Exercise: Congestion Control Stability Analysis
- Exercise: Everyday examples of feedback systems*
- Exercise: Exploring the dynamics of rolling mill
- Exercise: Exploring the dynamics of the ball and beam system
- Exercise: Exploring the performance of a cruise controller*
- Exercise: Human balance system*
- Exercise: Insect flight control modeling
- Exercise: Integral action produces zero steady state error*
- Exercise: Modeling and simulation of an exothermic reaction
- Exercise: Moving your finger through a flame without getting burned
- Exercise: Popular articles about control*
- Exercise: Properties of linear discrete time systems
- Exercise: State feedback control of an AFM in contact mode
- Exercise: Supply chain simulation study
- Exercise: Traffic light simulation
- Exercise: Vehicle powertrain modeling and cruise control
- Exercise: Vehicle suspension system modeling and input response
- Exercise: Vestibulo-occular reflex*
- FAQ: Are the percentages in the definition of rise time, overshoot measured from the final value, or the size of the input change?