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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 Laplace-Transform of should read

  • §4.10, p93: After Equation (4.10.3) insert the following paragraph:

  • §4.10, p95: In Table 4.4, the Fourier-Transform of the product f1(t)f2(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 G12 should be multiplied by 100 and the gain of G21 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 third-d.o.f design" has some arrows around blocks Go1(s) and Go2(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 inner-outer 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 Bo(s)P(s)=A*(s) at zero of Ao(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,To(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 mis-spelt, 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 To(s) matrix should read

  • §20.11, p650: In Equation (20.11.6) the Gq(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 Go(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