Bill Goodwine's Courses

Post any errors that you find in the course text below. To aid in avoiding any repeats, please do it as follows:

In the subject put something like

• "page xx, line yy"

then in the body of the post put the error. If it's near the bottom of the page put "page xx, line -yy," meaning the error is yy lines up from the bottom. Count equations as lines as well.

Points:

• typos = 1 homework point
• substantive errors = 10 homework points
• really major errors = 10's of homework points

Obviously what constitutes the distinction between these three types of errors is a matter of degree. I'll use my best judgment to allocate points fairly. As time progresses, I will most likely designate certain chapters as "off limits" or offer only reduced credit for any errors since they have not been as thoroughly proofread by the author.

Only the first person to post an error will receive any credit, so try not to repeat any others that have already been posted.

The "set of admissible controls" should be more clearly expressed as the "set of admissible inputs".

typo on page: 4, line: Last

"think it in nontrivial" should be "think it is nontrivial"

In page 13 of the textbook, 29 in the pdf file, there is an error in the specification of the equilibrium points about which the linearization takes place. The second equilibrium point x2 (0, pi) should be (pi, 0)

(c,A) should be (A,c)

"x^t_0 C(A,b))" has two left parentheses after it.

valume in row 1 column 1 of the matrix e^At should be 2e^-t-e^-2t

I think "-T0 and a constant reference voltage" should be "a constant reference velocity"----otherwise this makes problem E1.2 very confusing

in the y equation shown, it shows a number one in brackets before u, this should be 1/m

V_0 should be Z_0.

ds is missing from the integral.

for c=(0,1) the output is now the velocity and not the displacement as stated in the text.

There is an "adj" missing between c^t and (sI-A).

y_1(t) should be y_2(t) in part ii) of lemma 3.34.

For the problem to work out correctly, I think the initial conditions need to be x_0 = (4/5, -1/5).

Addendum: I'm not so sure about this now, but I think something is screwed up numerically with the problem.

y(t) in the last equation should be y_p(t)

"Consistent with our...": garbled sentence.

\mathcal P_\times should be \mathcal P_+

The L_p-norm "of y" should be "of f".

Ditto on line 18.

missing "if"

The range of atan2() given at the bottom of page 617 is inconsistent with the figure (the figure includes both pi and -pi).

"D" probably should be "S"

In number 5 it reads, the Bode plot is shown in *missing fig* for tau=1. *missing fig* should be figure 4.7.

"Example 6.4" should be Example 5.4?

The author defines t=2*e^(i*t) but then incorrctly has e^(2*i*t) in the expression for the curve.