This page contains information about version 3.0h of *Feedback Systems* by Karl J. Åström and Richard M. Murray. Version 3.0h is a preprint copy of the second edition of the text, being used at Caltech for CDS 101/110, Fall 2016.

Additional info and links:

- Revision date: 23 Sep 2016 to Oct 2016
- Complete book - this a PDF of the entire book, as a single PDF file

The electronic edition of *Feedback Systems* is provided with the permission of the publisher, Princeton University Press. This manuscript is for personal use only and may not be reproduced, in whole or in part, without written consent from the publisher.

## Errata

A full list of errata including page and line numbers is maintained on the errata page.

Page | Line | Description | Version |
---|

3-17 | | After Example 3.4, difference equation should be difference equations | **Version 3.0h** |

6-25 | | After Example 6.8, reference to equation (6.20) should be equation (6.24) | **Version 3.0h** |

5-26 | | At the end of Example 5.12, "dynamics ... evolve" should be "dynamics evolve" | **Version 3.0h** |

4-4 | | Caption of Figure 4.3 has grammatical error | **Version 3.0h** |

2-8 | | Display equation above equation (2.12) has extra set of parentheses | **Version 3.0h** |

2-7 | | Equation (2.11) has the wrong formula for the transfer function | **Version 3.0h** |

2-7 | | Equation 2.11 is not equal to the preceding expression from which it came | **Version 3.0h** |

10-2 | | In Equation 10.1, there's a typo 0 instead of ')' | **Version 3.0h** |

7-3 | | In Equation 7.2, dot is over the subscript | **Version 3.0h** |

5-23 | | In Example 5.11, extra "a" in description of P | **Version 3.0h** |

2-5 | | In Example 6.8, signalsith should be signals with | **Version 3.0h** |

7-34 | | In Exercise 7.12, it refers to 'Exercise ??.' | **Version 3.0h** |

6-36 | | In Problem 6.8, discrete time system does not progress | **Version 3.0h** |

1-23 | | In Section 1.7, there is a typo/missing word near the end of the section | **Version 3.0h** |

1-25 | | In Section 1.8 text on paper mills, "production unit" should be "production units" | **Version 3.0h** |

1-23 | | In Section 1.8, breaking should be braking | **Version 3.0h** |

10-3 | | In Section 10.1, the word "circuit" is misspelled. | **Version 3.0h** |

10-2 | | In Section 10.1, there is a typo in the oscillation condition equation | **Version 3.0h** |

10-7 | | In Section 10.2, part of Figure 10.5 seems to be missing | **Version 3.0h** |

10-15 | | In Section 10.3, the caption for Figure 10.11 seems to have a typo | **Version 3.0h** |

10-18 | | In Section 10.4, Figure 10.14(b) seems to missing the curve for reverse driving phase | **Version 3.0h** |

10-18 | | In Section 10.4, the Figure 10.14 caption has a grammatical error | **Version 3.0h** |

11-5 | | In Section 11.1, the word "frequencies" is duplicated | **Version 3.0h** |

11-16 | | In Section 11.4, the Figure 11.10 caption has a typo | **Version 3.0h** |

12-3 | | In Section 12.1, the additional transfer functions for the F != 1 case seem to be incorrect | **Version 3.0h** |

12-4 | | In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrect | **Version 3.0h** |

12-6 | | In Section 12.2, the condition for Gyv being small seems to be misstated | **Version 3.0h** |

12-5 | | In Section 12.2, the feedforward command u fv is mislabeled in Figure 12.3 | **Version 3.0h** |

12-11 | | In Section 12.2, the sentence about sensitivity to model uncertainty has a grammatical issue | **Version 3.0h** |

12-5 | | In Section 12.2, the word "desired" is misspelled | **Version 3.0h** |

12-11 | | In Section 12.2, the word "inherently" is misspelled | **Version 3.0h** |

12-10 | | In Section 12.2, there is a singular vs. plural error when talking about the control signal | **Version 3.0h** |

12-10 | | In Section 12.2, there is a typo in the equation for P^+(s) | **Version 3.0h** |

12-11 | | In Section 12.2, there is a typo in the equation for the approximate inverse of P(s) | **Version 3.0h** |

12-14 | | In Section 12.3, there is a missing space | **Version 3.0h** |

12-16 | | In Section 12.4, the word "limitations" is misspelled | **Version 3.0h** |

12-30 | | In Section 12.6, a sentence in Theorem 12.2 is grammatically incorrect | **Version 3.0h** |

12-28 | | In Section 12.6, there is a missing comma in the caption of Figure 12.17 | **Version 3.0h** |

12-35 | | In Section 12.7, there's a grammatical error where it talks about the closed loop system H i | **Version 3.0h** |

12-35 | | In Section 12.7, there's a typo in the discussion of inner/outer loop design | **Version 3.0h** |

13-7 | | In Section 13.2, the word "point" is duplicated | **Version 3.0h** |

13-7 | | In Section 13.2, the word "transfer" is misspelled | **Version 3.0h** |

13-6 | | In Section 13.2, the word "when" is incorrectly capitalized | **Version 3.0h** |

13-7 | | In Section 13.2, there's a grammatical issue in the discussion of system stability | **Version 3.0h** |

13-15 | | In Section 13.3, the word "response" is duplicated | **Version 3.0h** |

2-4 | | In Section 2.1, referred is misspelled | **Version 3.0h** |

2-2 | | In Section 2.1, there is a typo in the discussion of solving for an exponential input | **Version 3.0h** |

2-8 | | In Section 2.2, one too many parentheses in an expression for y(t) | **Version 3.0h** |

3-10 | | In Section 3.1, there is a typo for plurality | **Version 3.0h** |

3-2 | | In Section 3.2, "stiction" should be "friction" | **Version 3.0h** |