## Course Text

Read this carefully for course policy and procedures.
goodwine
Posts: 1596
Joined: Tue Aug 24, 2004 4:54 pm
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### Course Text

You may download the updated version of the course text. This may contain additional material and corrections that are not in the printed version. Unless otherwise indicated in class or on a homework, all references to page, section and problem numbers are for the printed version.

Post any errors that you find in the printed version of 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.
Bill Goodwine, 376 Fitzpatrick
sjensen1

### Re: Course Text pg 133 ln -5

There should be an = in eq. 6.5
sjensen1

### Re: Course Text

[quote="sjensen1"]There should be an = in eq. 6.5[/quote]
that is an = instead of a d/dt
sjensen1

### Re: Course Text pg 140 ln 6

I think there should be a hat on the xi in (A-Gamma*I)*Xi = 0
sjensen1

### Re: Course Text pg 138 ln 8

There is also a hat missing on the xi with the n superscript in the expression for Xi(t)
Anon

### pg 140 ln 03

When determining the determinate of (A-lambda*I), the text reads that it is

(1-lambda)*lambda - 2

I think there should be a negative on the outside of (1-lambda) that coomes from the lambda on the outside, on other words

-(1-lambda)*lambda - 2
jlarch

### Re: Course Text

pg 135 line 6 (last words in the main paragraph)

Equation 6.9 is referenced when equation 6.8 should have been.
jlarch

### Re: Course Text

page 136 last line

Equation 6.12 is referenced instead of 6.13
jlarch

### Re: Course Text

Sorry, 6.12 (the original) was the correct equation
jquiniff

### pp140 ln 3

I think I found a typo here, the end of the line should be =0 not -0.
jlarch

### page 141 2nd line of Definition 6.5.5

". . . is transposed an all the elements are changed . . ." the 'an' should be 'and'
jlarch

### page 143 last line of Proposition 6.6.2

"Thus we make take . . ." either make or take should be omitted
jlarch

### pg 150 3rd line of Def: 6.7.3

The m and i=1 of are to the right of the summation sign, instead of above and beneath
tbongior

### pg 158 line 3

"ed" should be removed so that the line reads, "For the non-repeated eigenvalues..."
tbongior

### pg 167 line -10

in the second line of example 6.11.3, the xi symbol does not appear (the word "xi" is written instead)
tjaramil

### Page 151, Line 18

Extra period should be removed for sentence ending ..."independent eigenvector associated with lambda_1 = 1."
bristolschmitz

### Page 143, Line -11

"we may to proceed as before and..."

"we may proceed as before and..."
bristolschmitz

### Page 160, Line -9

"and an simple calculation shows that..."

"and a simple calculation shows that..."

The word "an" was changed to "a".
lherrin

### Page 135 eq 6.9 and P 137 black square

on the right side of the equal sign, ξ3 should be replaced with ξ4

and similarly on 137 in the brackets on the right, ξ5 replaced with ξ6.
mkoehle1

### Page 154, Line 3

In your answer to the determinant, you have (1-lambda)*lambda-2. It should actually be (1-lambda)*(-lambda)-2. Your end result is correct, but the intermediate result is missing the minus sign.
tbizzle

### Pg 184 Lines 7,8

Line six states that lines 7 and 8 will show a combination of the two modes of oscillation, but the first mode of oscillation shows a term
sqrt(k/m) and in both terms in lines 7 and 8, there is just sqrt(k)*m. Similarly for the second mode in lines 7 and 8, the m term needs to be in the denominator of the fraction within the square root sign.

-Tom Banasiak
sagarwal

### pg 146 3 lines from bottom

the eigenvalue \lambda_1 is 1+2i, but you list \omega as 1. It should be a 2.
jlarch

### pg 143 2nd line of Proposition 6.6.2

The Lambda sub i, hat with the complex conj. bar atop it should be a zeta b/c it's an eigenvector corresponding to lambda sub j.
satkinso

### page 155, line 11

As is written: "Recall, that the whole business..."
correction: drop the comma.
Corrected: "Recall that the whole business"

nb: "the whole business" probably doesn't have an appropriate tone for a textbook. Consider rewording that phrase.
am2011

### Re: Page 184 Line 4

I believe "Note the assume form of the solution is..." should be "Note the assumed form..."

Ashley Meklis
bristolschmitz

### Page 501, Line 14

"Also, to distinguish it from addition of real numbers, vector addition will be denoted bold plus sign."

"Also, to distinguish it from addition of real numbers, vector addition will be denoted by a bold plus sign."

The words, "by a" were added to the second version.
bristolschmitz

### Page 517, Line -1

There is a period missing after the matrix in the last line.
bristolschmitz

### Page 182, Line 6

"Note the assume form of the solution..."

"Note the assumed form of the solution..."

The word "assume" was changed to "assumed" in the second case.
sjensen1

### Re: Course Text pg 158 ln -6

"...with algebraic multiplicity of 4" should read (I believe) "...with algebraic multiplicity of 3"
sjensen1

### Re: Course Text pg 181 ln -3

In the second equation of equation 7.1 the first x2 should be x1
brasmus

### Re: Course Text pg 115 ln -9

The t^0 equation is incorrect. It reads lambda(xi2+xi1)*e^(lambda*t) = A*xi2*e^lambda*t

The lambda should not be distributed to xi1. The equation should read

(lambda*xi2+xi1)*e^(lambda*t)=A*xi2*e^(lambda*t)
tjaramil

### Page 147, Line 3

The equation here showing values being substituted lacks an e^(mu*t) term. The second line of the equation should read:
...+k_2 * e^t * (. . .)
imills

### Re: Course Text page 189 Figure 7.7

On Figure 7.7, the last spring attached to masses n and n-1 should have a spring a damper labeled k_n and b_n, not k_n-1 and b_n-1. Although it's arbitrary, the counter goes from 1 to n on the masses and 1 to n-1 on the springs and dampers, which is confusing.
jriese

### pg 225

There is a bulleted paragraph on the right side of the page that is cut off by the edge of the page making it impossible to read...
jhenkel1

### Page 182, Lines 9 & 10

When substituting x1(t) and x2(t) into the equations of motion, one should obtain [...] cos wt = 0 for both of the equations.
jlarch

### pg 154 line 15

This should read: "So, lambda = -2 is the solution"
wtowne

### p. 139, line 4

in the equality eqn, I think the first should be \alpha_1, not \alpha_i. (even though it's true anyway)
RPeterson

### Re: Course Text

On pg. 159, where the (A-2I) matrix is calculated, the (1,1) position should be a -1 instead of a 1.
bristolschmitz

### Page 158, Line -6

"(A-lambda_1*I)*xi^1 = 0 <---> [matrix]"

I believe the [matrix] should be the "A" matrix from page 158, line -13 with 1*the identity matrix subtracted from it. However, the [matrix] given on line -6 only has the first term after the subtraction with the remaining values on the diagonal still coming from the original "A" matrix.

The [matrix] in the text is:

0 0 0 0 | 0
0 2 1 0 | 0
0 0 2 1 | 0
0 0 0 2 | 0

while I believe it should be:

0 0 0 0 | 0
0 1 1 0 | 0
0 0 1 1 | 0
0 0 0 1 | 0.
wtowne

### p 166 l 5 - 7

all t's in the integrand should be tau's (exponents of e's)
wtowne

### p 166 l -8

after "which is", the "...= T=..." should be "...= T \psi =..."
bristolschmitz

### Page 153, Line 7

"Constructing the augmented matrix for A-2I gives
0 1 | 1
0 0 | 0."

"Constructing the augmented matrix for A-2I gives
0 1 | 0
0 0 | 0."

The second version has the last column in the matrix as all zeros instead of as 1,0.
bristolschmitz

### Page 163, Line -3

In the first matrix the 1 is the first value in the column but when multiplied by lambda_n it is shown in the second matrix as being the last entry in the column. From the lines preceding in the book, I believe the first matrix should have the 1 as the last entry in the column so when multiplied by the lambda_n the second matrix is correct.
plangley

### Page 192 figure 7.10

I think the spring constants labeled k(i+1) should be k(i+2) and the one labeled k(i) should be k(i+1).
am2011

### Re: Page 167 Line -9

"Example 6.11.3 Find the general solution to...(equation)"

On the RHS of the equation, I believe there "xi_2" should be "eksi_2"
am2011

### Re: Page 168, Line 6

The last coefficient equation says "sine term, first equation." I believe it should be "cosine term, second equation."
msobole1

### Re: Course Text Page 240 Probelm 8.13

The first interval should read 0 <= t < 1, not t <= t < 1
tjaramil

### Page 195, Line 5

Wrong form of "to" is used, should read "is not too great."
brasmus

### Re: Course Text Page 211, Line 12

The line after "and substituting gives" starts xdot+ x = ...

I believe a 3 should precede the term in brackets.
wtowne

### p. 201, line -5

The word "transform" is unnecessarily repeated.
wtowne

### p. 498, -10 (1st line of step 2.)

"multiple" should be "multiply"
kdacey

### Re: Course Text pg 214 ln 18

the equation should read L-1 = (1/2 (1-e^(pi*s)) * (2/s*(s+2)) rather than 1/s*(s+2)
mwalz

### Pg. 214 Line 18

The numerator of the function which the inverse Laplace is being operated on should be 2 and not 1 so that the line reads: inverse Laplace [ 1/2 * (1-exp^-pi*s) * 2/{s*(s+2)} ] =
jflores4

### Re: Course Text Page 193 line 18

I think that for Fact 8.1.2, the integral should equal 1/(s-a) and not 1/(s+a). On the last line of page 197 you define the integral using -a.
sdeakins

### Pgs 146 - 147 Example 6.6.5

Someone already pointed out that the omega in this problem should be equal to two. This value needs to be placed in the third line as exp(2*t)*k2*... and line thirteen as exp(2*t)*... . The answer that is given does not take this into account as well.
edebevec

### Re: Course Text Page 160 line -1

The equation for E(t) has a plus sign (+) at the end of its third term, but the next line has an equal sign (=) so it appears unnecessary.
Anon

### pg 160 line 02

The text reads as follows "Edot = aE"

a should be capitalized, so it should be Edot = AE.

-- Arturo Garcia
edebevec

### Re: Course Text Page 161 Line 3

Similar to my previous post...

There is an unnecessary plus (+) sign immediately before an equal (=) sign for the E(t) equation.
Anon

### Pg 158 linen 12

I'm not sure if this is a mistake, but on the homogeneous solution shouldn't there be a ci in front of thing within the parenthesis.

-- Arturo Garcia
kdacey

### Re: Course Text pg 161 ln 9

the second term in that answer should have c2 in front of e^2t ([ 0 1 0 ] + t * [ -1 -1 0] ) instead of the c1
wtowne

### p. 223, line above Example 8.5.6

"servor" should be "servo" as in the footnote.
wtowne

### 226, l. 1 and 12 (after all the V eqns) and 16 (after T.Fn.)

"inductor" should be plural.
"gives" should be "give."
"May" should have an "n."
wtowne

### p 234 l 1,2

"switching" should be taken out.
"The" is repeated.
wtowne

### p. 235, l. 9

"The functions step() and impulse() computes and plots an ...": verbs should be plural.
jhenkel1

### Re: Course Text Page 220 Line 7

Book states: "The force on mass 2 is f=T2-T3"

I believe this force acts on Mass 1.
BTowle

### Re: Page 219, line -14

Currently it reads "...is attached to a belt that driven by a pulley."
should be ...a belt that IS driven by a pulley.
BTowle

### Re: Page 233, line 7

Currently it reads: "...used to simplify an complicated..."
Should be "used to simplify A complicated..."
jhenkel1

### Re: Course Text pg 350 problem 9.5 line 2

zero appears twice
jhenkel1

### Re: Course Text Page 111 line 4

̈x(t) = A cos ωt + B sin ωt --> this should be x(t), not the 2nd deriv. of x(t)
jhenkel1

### Re: Course Text page 110 equation 4.17

2ζ ωn x --> this should be xdot
pfunk

### Re: Course Text page 271 line -4

There are no sign changes, so all solutions to equation 9.15 should be in the left half plane, not right
sagarwal

### Re: Course Text pg 317, middle of page

under example 9.8.23, the equation should be s+3/((s+1)(s+2)) to match example 9.8.21 and fig 58
jlarch

### Re: Course Text

pg 245: 1st sentence after 4. (an detailed = a detailed)
pg 247: line 3 (equation 9.2)
pg 254: 2nd eqn from top there might be a missing m*g*l*cos(theta) added on factor
pg 254: the d/dt [x1;x2;x3 eqn for (theta_d - x(1)) should be equal to (theta_d - x(2))]
b/c d/dt (x(3)) = d/dt(T_d - T) and d/dt (theta) = x(2)
pg 279: first line beneath eqn 9.19 -- A plot of O it versus . . . it = /it (italics)
pg 282: 2nd line beneath eqn 9.21 which satisfy the . . . = satisfies
pg 283: line 14 from top "It is necessary component" = is a necessary
pg 292: line 10 from top " in a complex conjugate poles" either in comp. conj. poles or in a pair of CCPoles
pg 292: line 11 for kp>=3 needs a space
pg 295: the black box for the aside review in complex variables is in the wrong spot (just beneath 9.27) It looks like new material was added afterwards that still pertains to hte review. Probably should be just before example 9.8.4
pg 297: 9 from bottom all the arrow = arrows
pg 300: line 7 from top (from the - infinity) just before there is no the or + inf. ( prob erase "the")
pg 300: line 10 there shouldn't be a comma after k since the following is a dependent clause
pg 300: Rule 9.8.5 then At k . . . At = at (lower case)
pg 301: first line after propos. 9.8.8 Figure 9.46 with is the root (with is a typo)
pg 303: line 7 Rule 9.8.9 gives and angle and = an
wstaruk

### Page 308, Whole Page

Solving 1+kG(s)=0 for k gives k=-1/G(s), not 1/G(s) as is said on this page.

There should be negative signs in front of equation 9.29, the second, third, and fourth equations from the top of the page (k and dk/ds in ex 9.8.18), and the second to last equation line on the page (k in ex 9.8.19).
wstaruk

jhenkel1

### Re: Course Text p 359, Problem 9.26, Part 2, Line 1

Plan should be plane
ntremble

### Re: Course Text

pg. 274 line 3

The omega_n in the equation after the arrow should be (omega_n)^2.
sjensen1

### Re: Course Text pg 315 line 4-5

Part 2 of Example 9.8.22 Shold be referencing Figure 9.59
tjaramil

### Pg 255, Line 6

First line of Section 9.4 currently reads "gains in section 9.2 practically"

To fit the rest of the book's convention "section" ought be capitalized. Trivial, I know.
jcastil1

### page 276 line 6

The line reads: "constant and the the magnitude of the vector is increased"
The line should read: "constant and the magnitude of the vector is increased"
jhollan3

### pg 228 Ex 8.6.1 and pg 354 prob 9.9-5

on pg 228 Figure 8.22 I think that the the block diagram does not match the equation above it. It looks like the mgl/s term should be positive.

on pg. 354 prob 9.9-5 there is a typo. "...by hand, the how the poles..."
jhenkel1

### Re: Course Text P 247 line 1

proportional controls suffices. should be singular
jlarch

### Re: Course Text

p 280 L -6 -- the zeta omega_n greater than 1.3 should read as "less than negative 1.3"
p 257 (one line above the eqn for y1(t) = inv Laplace(G(s) / s)) reads "the impulse response is given as . . ." -- impulse should be unit step
jlarch

### pg 280 line -4

"less than 3 seconds . . . in Figure 9.26" the 3 seconds is 1.3 seconds
jlarch

### Re: Course Text

I made a mistake, the last post on 280 is correct in the book
jhenkel1

### Re: Course Text P 245 line 11

"This chapter provides an detailed introduction"... provides a detailed introduction
tjaramil

### P 223, Line -2

In the footnote, the final sentence reads "The means to to this. . ." I believe the second "to" should be a "do".
tjaramil

### P 301 Fig 9.46

This figure depicts the zero of the equation in Example 9.8.7 as being located at -2. The zero occurs at -3.
tjaramil

### P 302 Line 9

The sentence "If we desire to determine whether or not a point, indicated by a cross in the figure, we will use the fact that it. . ." is missing a clause. It is unclear what we are determining about the point.
jlarch

### Re: Course Text

p 301 L 3 "the branches of the root locus start at . . ." instead of "starts at"
lherrin

### P201,207 Line 5,4

page 201 3 lines under the first black box - unnecessary "it" (or comma shortage)
line reads, "Since there impulse has zero width, if the lower limit were simply 0, then it whether or not the impulse is included in the integral would be ambiguous"

page 207 after 3rd equation block Covert-->Convert
Reads "Now we want to covert the right hand side into a combination of terms that appear in Table 8.1."
mkoehle1

### p217 line --4

Professor,

In your matrix representation of the equations, you have a 4x4 matrix added to a 4x1 matrix. You should have the 4x4 matrix multiplied with a 4x1 matrix with values (x_1, x_1 dot, x_2, and x_2 dot).
jlarch

### p 294 line 11

The ) bracket should be outside of (Xd-X) before factoring in the next line
Anon

### pg 285 ln -03

"We considered this previously in Example 9.5.12)."

There's no need for that parentheses.
BTowle

### Re: Course Text

Page 306, Line 3
"..at the zero and a does grow unbounded." The a is unnecessary

Page 370, Line -5
"it acts like term proportional..." I assume a "a" is needed between the like and term.
Anon

### Pg 286 ln -10

the text reads as follows, "...where r = 10, 1, -1 and = 10,..."

I believe that the "=" next to the second 10 in that list should be a negative 10, thus the text should read,

the text reads as follows, "...where r = 10, 1, -1 and - 10,..."
lherrin

### P 228, 258 line 17,10th from the end

Page 228, in Example 8.6.1 second to last line before the equations & fig 8.22 Extra "it"
Text reads, "Then it it added to the gravity term and finally multiplied by the robot dynamics to give" ...

Page 258, 10th line from the bottom, extra "by" or "in"
Text reads, "This is verified by in Figure 9.8 which compares the two solutions"

Page 258, 3rd line from bottom, first "as" to "at"
Text reads, "impulse response of the two transfer functions with pole locations as the same points as before are illustrated"
Anon

### Pg 288 ln 08

In the limit equation, the error should be pointing from left to right not from up to down.
cpratt

### Pg 261 ln 9

In section 9.5.3, after the first equation, the text states "which as poles at..." when it should be "which has poles at..."
BTowle

### Re: Course Text

Page 485, last line
"it does not patter which peaks..." should probably read "it doesn't matter which peaks"

Page 486, 3rd equation from the bottom
The text "Since that ..." is attached to the equation for (delta) = ln(0.4/0.7) = -.56
mkoehle1

### p248, Line --8

In equation 9.5, I believe the entire denominator should be multiplied by 's.' Thus, the denominator should read: s(Js^2+k_p).
mkoehle1

### p252 Lines 10 & 12

In both equations, you should have the proportionality constant times the integral of theta desired minus theta. Therefore, you should add parenthesis around theta_d(t) - theta(t) in both equations.
jhollan3

### Re: Course Text

pg 483 figure 17.1 the damper is labled as 'k' and the spring is labled as 'b'
jcastil1

### page 483 line -6

The line reads: "it makes sense to use the data t either validate...."
but I think an 'o' was forgotten and it should read "it makes sense to use the data to either validate...."
jhenkel1

### Re: Course Text Page 357, Probelm 9.22, line 3

The problem considers a low pass filter. The Resistance and Capacitance subscripts should therefore be LP, not HP.
jhenkel1

### Re: Course Text, Page 342, Equation after text line 11

a ")" is missing in G(iw)
sagarwal

### Re: Course Text pg 181 ln -3

[quote="sjensen1"]In the second equation of equation 7.1 the first x2 should be x1[/quote]

I believe it is the 2nd x2, of the -k3 x2, that should be x1, not the x2 of (k2 + k3)x2. That one is correct.
mturne10

### Re: Course Text p.11 line 10

The top line under the section title 1.5.5 currently reads:
"If the all the functions..."

I believe it should be changed to:
"If all the functions..."
mnagy

### Page 14, Line -1; Page 15, Last paragraph of 1.7, Lines 1 an

A few small typos:
Page 14, Line -1: "Then Equation 1.11 has exatcly one solution,"

Last paragraph of 1.7 on Page 15:
"Be careful to propery interpret the theorm"
And: "sufficient condition for exitence"