Course Text

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goodwine
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Course Text

Post by goodwine »

  • Here is the printed version of the course text.
  • Here is the updated version.
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.

Only the first person to post an error will receive any credit, so try not to repeat any others that have already been posted.
Last edited by goodwine on Sat Feb 02, 2008 2:25 am, edited 2 times in total.
Bill Goodwine, 376 Fitzpatrick
ascott5

page 181

Post by ascott5 »

There is an inconsistency with your definitions of linear dependence and independence and "Example 6.3.2"

Under "Definition 6.3.1" you give an if-then definition for linear independence and say if the scalars yield a zero total then it is linearly independent. This happens in a non-trivial way in the example and you say it results in the set of vectors being linearly dependent.


This may effect what you write in the line ,
"If the set is non linearly dependent, then it is linear independent."
phommes

page 151, equation 6.3

Post by phommes »

It looks like the Xi_3 in the third row should be Xi_4.

Paul
shockett

page 151, equation 6.3

Post by shockett »

in the 4th line, the (+ b4*xi2) the b4 should be b2
shockett

page 155, line -11

Post by shockett »

The left side of the equation should be multiplied by a Xi_hat
nloyd

Post by nloyd »

on page 180, the matrix calculated with an eigenvalue of 1 is incorrect (i think). the (1,1) term was modified to find the eigenvector, but the (2,2), (3,3), and (4,4) terms were not modified.
nloyd

Post by nloyd »

on page 166, the superscript for the eigenvector for the lambda-sub 2 is one. it should probably be 2
nloyd

page 161

Post by nloyd »

on the paragraph at the bottom of the page, it says "to compute the eigenvalue associated with a particular eigenvalue..." the first "eigenvalue" should be "eigenvector"
TonyAshley

Pg. 190, Line 6 (excluding eqns)

Post by TonyAshley »

It's p.218 in the pdf.

"Thus, λ = 2 is an eigenvalue with algebraic multiplicity of 4."

I think the algebraic multiplicity should be 3, as the eigenvalues are 2,2,2,1.

Anthony
dbehrens

pg. 179, line that begins "Theorem 6.7.13"

Post by dbehrens »

"...and lambda sub i an eigenvector"

should be

"...and lambda sub i an eigenvalue"
shockett

page 174, line 4

Post by shockett »

for some reason the augmented matrix has a 1 in the third column

0 1 |1
0 0 |0

it should be a 0

0 1 |0
0 0 |0
tmalecek

pg 171, 4 lines up

Post by tmalecek »

resut should be result
kmorin1

page 153 and page 156 (of updated online version)

Post by kmorin1 »

153 line 10 ..."in this chapter are are systems of of n first order....

also later on equation 6.5, should there be two d/dt s in that line?

for page 156 line 2
i think you meant convert not "confert"
kwilson7

Page 165

Post by kwilson7 »

Proposition 6.6.2: Lambda-i should be a xi-i for the eigenvector corresponding to Lambda-j.
kwilson7

Page 175

Post by kwilson7 »

First sentence on page: Should be n linearly independent eigenvectors, not eigenvalues.
bjacobs2

Page 175 in Course Text, Line 13

Post by bjacobs2 »

"So, lamba = 2 is the solution"

I believe the solution should be -2
tcotter

p 201, 203

Post by tcotter »

the page numbers mesh with the title of the page
adam_mathews

Text Errata

Post by adam_mathews »

Throughout all of chapter 6.11 and 6.12, not only does it happen once, but happens on every page. It may not be a typo, but I'd just like your book to look classy.

Adam Mathews
ececconi

page 193, 8-11

Post by ececconi »

The integrals for v_1,v_2 and v_3 should be e^2*tau and not e^2*t
ascott5

page 189, Middle set of Matrices

Post by ascott5 »

Correction For the Matrices of the form d/dt xi = [A] [xi] + g(t) in the middle of the page:

3rd row of the A matrix should read 0, 0, 0, 1 instead of 0, 0, 1, 0.

Right now you have xi_3 dot = xi_3 instead of xi_4 plus some f(t).
ascott5

page 191, 7th from bottom

Post by ascott5 »

For the fourth of equation from the bottom of the page of the form:

psi dot = lambda_i*psi + h_i(t)


The psi on the right hand side of the equation should have a subscript i as well.

so: psi dot = lambda_i*psi_i + h_i(t)
ascott5

page 236, top of page

Post by ascott5 »

Right now it reads "xi dot = A + f(t)"

It should read "xi dot = [A + f(t)]*xi,

so that the standard equation xi dot = A*xi is satisfied.
TonyAshley

p.255, footnote, line 4

Post by TonyAshley »

Last sentence of the footnote on p.255.

"The means to to this will be covered ..."

Duplicate 'to'.
kwilson7

p224 1st paragraph

Post by kwilson7 »

"Covert" should be "convert."
kwilson7

p224

Post by kwilson7 »

First text line below paragraph one..the word expansion has an exponent.
irish07

page 271 line -1

Post by irish07 »

"The" is written twice on the last line of the page:

The "the" block containing...
irish07

page 280 line -4

Post by irish07 »

In the second to last equation the second term on the RHS says c1c2 (b/(s+a)^2 + b^2)

It should just be c2
irish07

page 280 line 2

Post by irish07 »

which as poles at.... you forgot the h in has

should be: which has poles at ...
irish07

page 286 line 2

Post by irish07 »

you wrote: transfer function has "a" multiple left poles in the .... need to delete the a

should be: transfer function has multiple left poles in the...
irish07

page 286 line -4

Post by irish07 »

The last equation on the page says cost2

should be: cos2t
irish07

page 294 line 2

Post by irish07 »

wnx should be (wn^2)x
irish07

page 296 line 4

Post by irish07 »

remove the word if if the sentence: Hence, if the effects of moving the location...
irish07

Post by irish07 »

Oops the last post was supposed to say remove the word if in the sentence
irish07

page 299 line -6

Post by irish07 »

remove the word it in the sentence: A plot of O it versus...
irish07

page 300 line 5

Post by irish07 »

in the sentence ...to satisfy this specification are illustrated in Figure 9.43- "are" should be changed to "is"
irish07

page 308 line 7

Post by irish07 »

the = sign in =10 should be a minus sign

should be: where r = 10,1,-1 and -10
shockett

page 587, line 2

Post by shockett »

There's a page number in the index with no reference.
It just says " , 389"
This shouldn't be there
shockett

page 362, lines 12 and 14

Post by shockett »

noun and verb don't agree

currently: "whether or not the change in the step response when the pole is moved in one of the three directions indicated are as predicted."

needs to either be
changes and are
or

change and is
ascott5

page 217, line 4 (middle of page)

Post by ascott5 »

currently 0-e^s*tau

should be 0-e^-s*tau

The mistake did not carry through to the solution.
ascott5

page 220, line 3

Post by ascott5 »

the word transform is repeated.

"The Laplace transform transform of a derivative..."
ascott5

Re: page 236, top of page

Post by ascott5 »

ascott5 wrote:Right now it reads "xi dot = A + f(t)"

It should read "xi dot = [A + f(t)]*xi,

so that the standard equation xi dot = A*xi is satisfied.

CORRECTION to the correction

It should read "xi dot = [A]*xi + f(t)

Sorry for the confusion
shockett

page 362, line 16

Post by shockett »

"match the plots of the pole and zero zero locations..."

zero should only be there once

"pole and zero locations"
mouimet

page 194, line -9

Post by mouimet »

In the Xi vector, "xi2" is written instead of the greek symbol for it.
ascott5

page 255, equations (9.5); (9.6) (middle of page)

Post by ascott5 »

Short explanation: multiply whole denominators of eq 9.5 and 9.6 by s.


I believe that equation 9.5 should have its whole denominator multiplied by s.

equation 9.5 currently reads:

theta(s) = (kp*s*theta_d - m*g*l)/(J*s^2 + kp)

It should read:

theta(s) = (kp*s*theta_d - m*g*l)/(J*s^3 + kp*s)

You got it correct when you referenced 9.5 on page 266 in the block diagram example.

equation 9.6 should also be adjusted by multiplying the denominator by an additional s.
ascott5

page 255, correction to above post.

Post by ascott5 »

Equation 9.6 was fine the way it was.

in equation 9.5 you may want to write theta_d(s) in the numerator instead of theta_d.
ascott5

page 266, top of page (2 figures)

Post by ascott5 »

The second comparator in the block diagrams should have a negative on the arrow leading from the (mgl/s) term in order to be consistent with the first stand-alone equation on the page.

This applies to both block diagrams.
tmalecek

Page 291, after the array

Post by tmalecek »

A somewhat major mistake I think: You list that the row does not exhibit a sign change, but I believe it should be the column, that does not contain a sign change.
shockett

page 189, line -1

Post by shockett »

In the T = [yadda yadda yadda] matrix, there is an unnecessary asterisk (*) where it should just be the "..."
shockett

page 190, line 7

Post by shockett »

in the square matrix, the last entry in the first column is a ")" - it should be a "0"
shockett

page 190, line -3

Post by shockett »

in the "T^-1*A*Xi_hat_n" equation, the lambda_n in the vector at the end is not multiplied by 1 as it is in the vectors directly above it.

Also, the first vector in that equation is wrong. It lists the first entry as a 1 when it should be a 0 and the last entry should be a 1.
shockett

page 194, line 11

Post by shockett »

typo:
"if the all the nonhomogeneous terms"

should be changed to

"if all the nonhomogeneous..."
shockett

page 199, line -14

Post by shockett »

"This is because of the the term in the homogeneous solution..."

the "of the" should be removed to make the sentence work:

"This is because the term in the homogeneous solution..."
shockett

page 201, line 10

Post by shockett »

"since, at least in Chapter 3 the derivation was rather complicated"

a comma should be added after "chapter 3"

"since, at least in Chapter 3, the derivation...."
shockett

page 201, line 16

Post by shockett »

"i really want to reference equation 6.31"

is there a point to this line?
shockett

page 202

Post by shockett »

line 3

a comma is needed after "details" so it becomes:
"Skipping the details, the general solution was"

line 7

a comma is needed after "ci"
"Since each term that is multiplied by a constant, ci, is a homogeneous solution..."
shockett

page 209 and 210

Post by shockett »

Fact 8.1.2 on 209 says that the integral of e^at * e^-st = 1/(s+a)
but on page 210, line 12 says that it equals 1/(s-a)

fact 8.1.2 needs to be fixed
shockett

page 213, line 3

Post by shockett »

"but has, for positive values of sigma a multiplicative..."

should be a comma after sigma

"but has, for positive values of sigma, a multiplicative..."
shockett

page 216, line -3

Post by shockett »

"proper interpretation of HeavisideTheta(t - tau) is that the function 1(t) is shifted"

it should be:

"of HeavisideTheta(t - tau) is that the function HeavisideTheta(t) is shifted"


*HeavisideTheta refers to the capital 1 function thing*
shockett

page 219, lines 3 and 4 after Table 8.1

Post by shockett »

"then it whether or not the impulse..."

the "it" should be removed

"then whether or not the impulse..."
shockett

page 220, line 8

Post by shockett »

"Laplace transform of a function, f(t) is L(f(t)) = F(s)..."

comma needed after "f(t)"

"of a function, f(t), is..."
shockett

page 195, line 7

Post by shockett »

"sine term, first equation ==> 4b2 = 3a2+1"

should be

"cosine term, second equation..."
shockett

page 277, line -4

Post by shockett »

"contain a term of the form c_0, it i.e.,"

remove the "it" at the end:

"of the form c_0, i.e.,"
bdoyle1

page 242, -2 lines from bottom

Post by bdoyle1 »

In the footnote: "The means to to this will be covered..."

should read, "The means to DO this..."[/quote]
bdoyle1

page 251, line -13

Post by bdoyle1 »

"This chapter provides an detailed introduction to..."

should read, "This chapter provides a detailed introduction to..."
bdoyle1

page 266, Figure 9.10 and 9.11

Post by bdoyle1 »

The term, m*g*l/s, should be subtracted at the comparator in the middle of both block diagrams as stated on p. 255 and line 8 of p. 266.

i.e. the plus sign on that arrow needs to be changed to a minus sign.
bdoyle1

page 286, lines 8,9

Post by bdoyle1 »

In line 8, the equation states:
y(t) = the inverse Laplace transform of (G(s)*(1/s))

The following line doesn't include the (1/s) in the inverse transform.

i.e. (1/s) needs to be multiplied within the parenthesis of the inverse transform on line 9.
shockett

page 366, problem 3

Post by shockett »

The transfer function should be asking for Theta(s)/Theta_d(s)
shockett

page 367, problem 15

Post by shockett »

"...occurs if a transfer function has two more poles or zeros..."

should be

"...function has two or more poles..."
jpalomor

page 370, the problem 9.22 description

Post by jpalomor »

the values of the subscripts of R and C don't match up with the subscripts of R and C in figure 9.103
ascott5

page 153, line -3

Post by ascott5 »

alpha 3 should be -1 instead of 1
ascott5

page 181, line 7

Post by ascott5 »

The first element of the first matrix should be -1 instead of 1.

currently is 1 0 0 0
0 0 1 0
0 0 0 1
0 0 0 0

Should be: -1 0 0 0
0 0 1 0
0 0 0 1
0 0 0 0
ascott5

page 183, line 11

Post by ascott5 »

The long equation in the middle of the page should have a negative instead of a positive sign between the omega^4 and (k1+k3)/m1 . . . .

I expanded the proportion equation before it and kept getting a negative after the omega^4
ascott5

page 194, line -11

Post by ascott5 »

Looks like the LaTex didn't take the backslash denoiting \xi2

Its in the matrix equation immediately following example 6.11.3
ascott5

page 286, line 9

Post by ascott5 »

I dont know if you left it out on purpose, but after you write the laplace inverse (G(s)*1/s) you leave out the s in the next line.

I know you might have done this since the laplace inverse(1/s) is the one's function, but I wasn't sure if you meant to include it or not since you didn't mention that simplification in the following paragraph.
shockett

page 314, line 4

Post by shockett »

missing word

currently:

"can written"

should be:

"can be written"
shockett

page 315, lines 6 and 7

Post by shockett »

plural agreement

"will result in a complex conjugate poles"

change to either

"will result in a complex conjugate pole"

or "will result in complex conjugate poles"
shockett

page 315, line 7

Post by shockett »

"The real part of the poles for kp>=3 ...."

there is a space missing between "for" and "kp"
shockett

page 315, line 21

Post by shockett »

"or a overshoot specification..."

needs to be:

"an overshoot..."
shockett

page 315, line -10

Post by shockett »

"point of the example, though is that once..."

remove the comma
shockett

page 321, line -14

Post by shockett »

"length of all the arrow from the"

should be

"all the arrows"
shockett

page 321, line -13

Post by shockett »

"to s and multiply them for zeros"

should be

"and multiply by them for zeros"
shockett

page 321, line -9

Post by shockett »

"and by subtracting the angle from all the poles"

should be

"subtracting the angles from all the poles"
shockett

page 324, line -10

Post by shockett »

"then At k = 0, one of each"

"At" should not be capitalized
shockett

page 327, line -6

Post by shockett »

"Rule 9.9.9 gives and angle..."

should be

"gives an angle"
shockett

page 330, line -11

Post by shockett »

"The final rule is addresses a feature not present"

should be

"final rule addresses a feature"
shockett

page 330, line -4 and -5

Post by shockett »

"The first rule will will apply is Rule 9.9.14..."

should be

"first rule we will apply..."
irish07

page 179 line-9

Post by irish07 »

non-repeated eigenvalues should (need to remove the ed)
irish07

page 182 line -3

Post by irish07 »

assume should be assumed
irish07

page 194 line 3

Post by irish07 »

contains function should be contains a function
irish07

page 201 line 16

Post by irish07 »

i should be capitalized
irish07

page 223 line -9

Post by irish07 »

determine inverse Laplace should be determine the inverse Laplace
irish07

page 220 line 3

Post by irish07 »

transform written twice
irish07

page 232 line 10

Post by irish07 »

should be a two in the numerator and not a 1 for 1/(s(s +2))
irish07

page 233 line 13

Post by irish07 »

missing a minus sign in between 1/s+1 and 1/s+2
irish07

page 264 line -8

Post by irish07 »

graphically represented by rectangle- should say graphically represented by a rectangle - forgot the "a"
irish07

page 269 line -5

Post by irish07 »

it is "the" natural- forgot "the"
irish07

page 271 line -3

Post by irish07 »

switching/moving- pick one or the other
irish07

page 271 line 1

Post by irish07 »

"an" should be "a"
irish07

page 277 line 14

Post by irish07 »

this is verified by- take out the "by"
irish07

page 304 line 18

Post by irish07 »

forgot "a" after it is _ necessary...
irish07

page 310 line 6

Post by irish07 »

these to extremes- should be these "two" extremes
irish07

page 312 line 8

Post by irish07 »

C_3(s) should be G_3(s)
irish07

page 238 line 4

Post by irish07 »

a belt that driven by a pulley should be a belt that "is" driven by a pulley
irish07

page 265 line -1

Post by irish07 »

Theta(t) should be Theta(s)
irish07

page 306 line -4

Post by irish07 »

after Example 9.6.12))- ) doesn't have a matching (
irish07

page 334 line -9

Post by irish07 »

a = -1/2 should be s = -1/2
irish07

page 181 line 7

Post by irish07 »

the 1 in the first row, first column should be a -1
irish07

page 188 line 9

Post by irish07 »

the first and third components... don't you mean the second and fourth components
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