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System Design  Index  Errata
Errata
If you suspect or find an error in the text please
let us know by email by contacting Graham.
The errata are arranged by chapter, section and
page.
A printable PDF version
of this page is also available.
Chapter 1
Chapter 2
 §2.6, p33: The paragraph following Equation (2.6.3) should read
Chapter 3
 §3.6, p48: Equation (3.6.18) should read
 §3.10, p56: Equation (3.10.21) should read
Chapter 4
 §4.4, p68: In Table 4.1, the
LaplaceTransform of
should read
 §4.10, p93: After Equation (4.10.3) insert
the following paragraph:
 §4.10, p95: In Table 4.4, the FourierTransform of the product
f_{1}(t)f_{2}(t) should read
 §4.10, p96: In Theorem 4.1, should read:
 §4.11, p98: In Table 4.5 the resonant system
should read
 §4.11, p99: At the top of this page the resonant system
should read
Chapter 5

§5.6, p137: Equation (5.6.13) should read
 §5.8, p144: In Figure 5.8, upper plot, the arrow for the gain margin should point upwards.
Chapter 6

§6.7, p173: Equation (6.7.7) should read

§6.7, p173: There is a problem with the simulation shown in Fig 6.12.
The gain of G_{12} should be multiplied by 100 and the gain of G_{21}
divided by 100. This (almost) gives the results in the text and the same
qualitative conclusions apply. When these directions are followed and
simulated this new Figure 6.12 results:
A Simulink schematic
(fig6_12.mdl)
which closely reproduces this figure has been added to the
Matlab Support section
of the web site.
Chapter 7
Chapter 8
Chapter 9
 §9.3, p246: Equation (9.3.3) should read
 §9.3, p247: Equation (9.3.8) should read
 §9.3, p248: Equation (9.3.11) should read
 §9.6, p257: Equation (9.6.2) should read
Chapter 10
 §10.5, p274: Equation (10.5.10) should read
 §10.5, p278: Figure 10.4 "First and thirdd.o.f design" has some
arrows around blocks G_{o1}(s) and G_{o2}(s) pointing the wrong way, and should
look like:
Chapter 11
Chapter 12
 §12.7, p327: Equation (12.7.7) should read
 §12.7, p328: Equation (12.7.11) should read
 §12.13, p340: The top line of Equation (12.13.6) should read
 §12.14, p340: Equation (12.14.4) should read
 §12.14, p341: Added B to the end of Equation (12.14.12)
Chapter 13
Chapter 14
Chapter 15
 §15.7, p440: Equation (15.7.4) should read
Chapter 16
 §16.2, p461: Remark 16.2 now reads:
The factorization (16.2.11) is also known in the
literature as an innerouter factorization.
 §16.2, p463: The denominator in W(s)
of Equation (16.2.32) ends with 18 as follows:
 §16.3, p468: Equation (16.3.19) now reads:
 §16.3, p470: Equation (16.3.28) now reads:
 §16.3, p472: The bias error equation now reads:
 §16.3, p472: The variance error equation now reads:
 §16.4, p479: At the bottom of the page:
Noting that
B_{o}(s)P(s)=A^{*}(s) at zero of
A_{o}(s) ...
 §16.5, p480: Equation (16.5.1) now reads:
 §16.5, p480: Equation (16.5.2) now reads:
 §16.5, p482: Between (16.5.8) and (16.5.9)
should read:
... values of s,T_{o}(s) ...
 §16.7, p484: The correct reference in the
identification section should read as follows:
Goodwin, G.C. and Payne, R.L. (1977).
Dynamic System Identification: Experiment
Design and Data Analysis,
Academic Press, New York
Chapter 17
Chapter 18
 §18.3, p533: Equation (18.3.15) should read
Chapter 19
 §19.6, p585: Example 19.6 should read
 §19.6, p585: Example 19.6 should read
 §19.10, p588: Theorem 19.2 item (i), should read
 §19.10, p588: Equation (19.10.10) should read
 §19.10, p589: Equation (19.10.15) should read
 §19.10, p590: Name misspelt, should read Yakubovich
 §19.14, p607: Equation (19.14.3) should read
Chapter 20
 §20.3, p624: The second paragraph after equation
(20.3.49) should read:
 §20.5, p627: Lemma 20.2 should read:

§20.5, p627: In Lemma 20.2 the last sentence in the proof should be deleted.
 §20.11, p648: In Equation (20.11.2) the C matrix should read
 §20.11, p649: In Equation (20.11.3) the element (1,1) in the T_{o}(s)
matrix should read
 §20.11, p650: In Equation (20.11.6) the
G_{q}(z) matrix should read
Chapter 21
 §21.3, p658: In Equation (21.3.7) the gamma terms in the denominator should
be added rather than multiplied, which makes the corrected version:
 §21.10, p672: In Equation (21.10.1) the element (1,1) in the
G_{o}(s) matrix should read
Chapter 22
 §22.5, p689: Lemma 22.1 it should read
 §22.5, p689: Lemma 22.2 should read
 §22.10, p700: Equation (22.10.61) should read
Chapter 23
Chapter 24
 §24.11, p799: In Figure 24.8 there should be
an extra l scaling factor
Chapter 25
Chapter 26
 §26.4, p867: The expression for (near
the bottom of the page) should read
 §26.7, p880: In Equation (26.7.6) the
integral starts at minus infinity:
 §26.7, p880: In Equation (26.7.7) the
integral starts at minus infinity:
 §26.7, p880: In Equation (26.7.10) the
integral starts at minus infinity:
 §26.7, p880: In Equation (26.7.11) the
integral starts at minus infinity:
Subject Index
The following index items refer to pages in the appendicies
that are present on the website.
 Analytic function
 Hamiltonian matrix
 Riccati Equation  dynamic  solution
Last Updated: 8th March 2001
