## Course Text

Read this very carefully for course policies and procedures and to find some useful handouts.
goodwine
Posts: 1596
Joined: Tue Aug 24, 2004 4:54 pm
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### Course Text

• 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

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

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

Paul
shockett

### page 151, equation 6.3

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

### page 155, line -11

The left side of the equation should be multiplied by a Xi_hat
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
on page 166, the superscript for the eigenvector for the lambda-sub 2 is one. it should probably be 2
nloyd

### page 161

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)

It's p.218 in the pdf.

"Thus, Î» = 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"

"...and lambda sub i an eigenvector"

should be

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

### page 174, line 4

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

resut should be result
kmorin1

### page 153 and page 156 (of updated online version)

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

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

### Page 175

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

### Page 175 in Course Text, Line 13

"So, lamba = 2 is the solution"

I believe the solution should be -2
tcotter

### p 201, 203

the page numbers mesh with the title of the page

### Text Errata

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.

ececconi

### page 193, 8-11

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

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

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

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

Last sentence of the footnote on p.255.

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

Duplicate 'to'.
kwilson7

### p224 1st paragraph

"Covert" should be "convert."
kwilson7

### p224

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

### page 271 line -1

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

The "the" block containing...
irish07

### page 280 line -4

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

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

should be: which has poles at ...
irish07

### page 286 line 2

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

The last equation on the page says cost2

should be: cos2t
irish07

### page 294 line 2

wnx should be (wn^2)x
irish07

### page 296 line 4

remove the word if if the sentence: Hence, if the effects of moving the location...
irish07
Oops the last post was supposed to say remove the word if in the sentence
irish07

### page 299 line -6

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

### page 300 line 5

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

### page 308 line 7

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

### page 587, line 2

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

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)

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

the word transform is repeated.

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

### Re: page 236, top of page

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

"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

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)

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.

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

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.

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)

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

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

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

### page 190, line 7

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

### page 190, line -3

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

typo:
"if the all the nonhomogeneous terms"

should be changed to

"if all the nonhomogeneous..."
shockett

### page 199, line -14

"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

"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

"i really want to reference equation 6.31"

is there a point to this line?
shockett

### page 202

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

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

"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

"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

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

the "it" should be removed

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

### page 220, line 8

"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

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

should be

"cosine term, second equation..."
shockett

### page 277, line -4

"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

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

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

### page 251, line -13

"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

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

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

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

### page 367, problem 15

"...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

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

alpha 3 should be -1 instead of 1
ascott5

### page 181, line 7

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

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

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

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

missing word

currently:

"can written"

should be:

"can be written"
shockett

### page 315, lines 6 and 7

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

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

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

### page 315, line 21

"or a overshoot specification..."

needs to be:

"an overshoot..."
shockett

### page 315, line -10

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

remove the comma
shockett

### page 321, line -14

"length of all the arrow from the"

should be

"all the arrows"
shockett

### page 321, line -13

"to s and multiply them for zeros"

should be

"and multiply by them for zeros"
shockett

### page 321, line -9

"and by subtracting the angle from all the poles"

should be

"subtracting the angles from all the poles"
shockett

### page 324, line -10

"then At k = 0, one of each"

"At" should not be capitalized
shockett

### page 327, line -6

"Rule 9.9.9 gives and angle..."

should be

"gives an angle"
shockett

### page 330, line -11

"The final rule is addresses a feature not present"

should be

shockett

### page 330, line -4 and -5

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

should be

"first rule we will apply..."
irish07

### page 179 line-9

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

### page 182 line -3

assume should be assumed
irish07

### page 194 line 3

contains function should be contains a function
irish07

### page 201 line 16

i should be capitalized
irish07

### page 223 line -9

determine inverse Laplace should be determine the inverse Laplace
irish07

### page 220 line 3

transform written twice
irish07

### page 232 line 10

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

irish07

### page 264 line -8

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

### page 269 line -5

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

### page 271 line -3

switching/moving- pick one or the other
irish07

### page 271 line 1

"an" should be "a"
irish07

### page 277 line 14

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

### page 304 line 18

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

### page 310 line 6

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

### page 312 line 8

C_3(s) should be G_3(s)
irish07

### page 238 line 4

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

### page 265 line -1

Theta(t) should be Theta(s)
irish07

### page 306 line -4

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

### page 334 line -9

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

### page 181 line 7

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

### page 188 line 9

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