Complete list with equations in PDF format. [updated 2/05]
Chapter 2
- Page 9. Equation after Eq. (2.8).
The a before the integral should be deleted.
- Page 14. Equation after Eq. (2.20) and
just before the Impulse function section.
A minus sign is missing in the last term e-sT.
- Page 30. Mid-page. In calculating tau2, 00.2 should be 0.02.
- Page 36. Example 2.12, the (4th) steady-state equation. Second term
with the beta coefficient missing the square on y:
ys should be ys2.
- Page 40. w2 in Figure E2.16(a) should be w2
as in Fig. E2.16(b).
- Page 41. Mid-page. Problem 13. Should be Eqs. (2.33) and (2.34).
- Page 48. Eq. (3.37) at the bottom.
The second transfer function should be Y/X, not X/X.
Chapter 4
- Page 74. Comment of MATLAB statement in the top half.
Missing a minus sign on "-4" in commenting the result of "a."
Should read as
a=[a11 a12; a21 a22]; % [-5 0; 2 -4]
Chapter 5
- Page 83. First paragraph.
Should be "proportional-integral-derivative," not "integra."
(We cannot afford an Integra!)
Chapter 6
- Page 109. Bottom, footnote no.1.
First line is an incomplete sentence. Footnote should be rewritten as
"If we assume that an oscillatory system... underdamped function,
we can calculate with Eq. (3.29) that with a DR of 0.25, and..."
- Page 113. Table of controller settings at the top.
The integratal time constant for ITAE should be 5.2 (not 3.1).
- Page 122. Mid-page, Example 6.5
Delete "an" from the end of the statement.
Should read as "... with dead time using IMC."
- Page 127. First paragraph, second from the last line.
The ITAE result is approximately 1.7% overshoot (not 14%).
Should read as "The ITAE result, with ~1.7% OS, is more conservative."
Chapter 7
- Page 141. Third MATLAB statement (Part e) near the top.
Missing parts.
Should be rlocus(zpk([],[-1 -2 -3],1))
Chapter 8
- Page 152. Title of Subsection 8.2.1.
Missing "absolute" sign on the magnitude of G. Should read as
"Magnitude and Phase Plots: log |G(jw)| versus log w..." where
w is omega.
- Page 153. Title of Subsection 8.2.3.
Missing "absolute" sign on the magnitude of G. Should read as
"Magnitude versus Phase Plots: log |G(jw)| versus ..." where
w is omega.
- Page 158. Mid-page of Example 8.6.
Missing minus sign in the phase angle of the first order lag.
- Page 173. Wrong values in the last two equations at the bottom.
The ultimate frequency wcg "1.12" should be "1.22"
There should also be spacing between the numerical values
and the units "s-1" and "s"
- Page 174. Equation mid-page in Part (c). Minor order change.
The order of stating 0.8 and 0.6 should be switched to be consistent
with how the transfer functions are defined (even though it makes no
difference in the numerical calculation).
- Page 175. MATLAB statement mid-page has an extra \texttt{taud} term.
The statement should read as
gc=tf([taui*taud taui 1],[taui 0]); %ideal PID without
Problems Part II
- Page 287. Figure PII.35 at the bottom.
The proportional controller block should be Kc,
not Kp.
If you come across an error before we get to it, please let us know
(mail it to control@pcchau.org)
and we'll post that for everybody.
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