## Text Errata

Read this very carefully for course policies and procedures.
goodwine
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### Text Errata

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.
goodwine
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### page 26, line 9

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

### page: 4, line: Last

typo on page: 4, line: Last

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

### error

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)
goodwine
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### page 36, line 1

(c,A) should be (A,c)
Last edited by goodwine on Wed Sep 15, 2004 3:46 pm, edited 1 time in total.
goodwine
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### page 40 line 2

"x^t_0 C(A,b))" has two left parentheses after it.
Last edited by goodwine on Wed Sep 15, 2004 3:46 pm, edited 1 time in total.
scampbel

### page 49; line :e^At reference at page bottom

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

### page 5, line 2

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

### page 25, number 3.

in the y equation shown, it shows a number one in brackets before u, this should be 1/m
goodwine
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### page 46, line 8

V_0 should be Z_0.
goodwine
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### page 631, equation between E.3 and E.4

ds is missing from the integral.
pberges

### Page 50, Line 1

for c=(0,1) the output is now the velocity and not the displacement as stated in the text.
goodwine
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### page 88, line 1 of Th 3.15

There is an "adj" missing between c^t and (sI-A).
goodwine
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### page 105, line 18

y_1(t) should be y_2(t) in part ii) of lemma 3.34.
goodwine
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### page 108, line 2

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.
Last edited by goodwine on Mon Oct 25, 2004 11:22 am, edited 1 time in total.
goodwine
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### page 120, theorem 4.1

y(t) in the last equation should be y_p(t)
goodwine
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### page 147, line 8

"Consistent with our...": garbled sentence.
goodwine
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### page 148, line -12

\mathcal P_\times should be \mathcal P_+
goodwine
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### page 170, line 13

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

Ditto on line 18.
goodwine
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### Page 618, Definition D.1 (iv)

missing "if"
goodwine
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### page 617, 618

The range of atan2() given at the bottom of page 617 is inconsistent with the figure (the figure includes both pi and -pi).
goodwine
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### page 618, def D.1 (v)

"D" probably should be "S"
pberges

### page 130 (146 in pdf), in number 5

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