Updated tuning rules are incorrect in equation (11.10b)

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Edition Second
Version number 3.0j
Submission date 31 Aug 2019
Your name Richard Murray
E-mail address murray@cds.caltech.edu
Chapter 11
Page number 11-13
Line number 22, 23
Current status Closed

The gains listed for the improved tuning rules are incorrect. For the frequency response in equation (11.10b), the correct gains are $k_p = 0.16 k_c$ and $k_i = (0.16 k_c + 0.72/K)/T_c.