Version 3.0j

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This page contains information about version 3.0j of Feedback Systems by Karl J. Åström and Richard M. Murray. Version 3.0hj is a preprint copy of the second edition of the text, which is being sent to the publisher for copyediting and creation of final figures.

Additional info and links:

  • Revision date: 1 Aug 2019 to 30 Aug 2019 (expected)
  • Chapters are being posted incrementally; a link to a PDF for the entire book will be posted when all chapters are available.

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.


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

3-31Demoninator of equation (3.27) should be r cClosed
13-8In Example 13.6 (Vinnicombe metric), the formula for conjugate point is missing a minus signClosed
11-13Original Ziegler-Nichols gains listed after improved tuning rules are incorrectClosed
11-13Updated tuning rules are incorrect in equation (11.10b)Closed
11-12Ziegler-Nichols tuning rules don't quite match the original gains from the Ziegler-Nichols paperClosed