Errata for Digital Control Engineering

M. Sami Fadali and Antonio Visioli June 2010

Page No. 13 Area/Element Example 2.3 Correction (also see attached pages from book)

= {1, 3, 2, 0, 4, 0, 0, 0,...} {uk } k =0

49

Example 2.25

s = 60 b = 600 rad/s.
unstable poles would.

90 96 159

Line above last Example 4.4 Problem 5.9 Transfer function Figure 6.14 Caption Figure 6.17 Caption Third paragraph Example 6.10 Above Example 6.13 Figure 6.27 Example 6.13 Example 6.18 Example 6.18 Solution

0.5848(0.3549s + 1) 0.1828s 2 + 0.8627 s + 1 K Should be 1 in the denominator (instead of 10) G ( s ) = 2 s + 3s + 1

(s missing in denominator) G ( s ) = with (dashed) and without prewarping (dash-dot) K=46.7. The root locus of 6.51 rad/s Sampling period =0.05 s (s>25d) (could redo the example with T=0.025) that is almost identical to that of Example 6.8

183 188 189 191 199 197 199 212 212

a is the angle shown (not c)

In the solution, change to Example 6.9 below last equation and in the last sentence. Change sampling time to sampling period After the first equation in the solution, delete the phrase and there are no zeros at infinity. Change to Note that there are no poles and zeros outside the unit circle. Using Table 6.5, we choose the desired continuous-time closedloop transfer function as second order with poles at (4.0530j 2.3400)/4 for a settling time of 4s and with gain equal to one for zero steady-state error due to a unit step. The continuous-time transfer function is Last sentence in page should be By applying (6.43) we have Change to We observe that stable pole-zero cancellation has occurred and that an integral term is present in the controller, as expected, since the zero steadystate error condition has been addressed. Change k to m (k used for time elsewhere) In the sentence below C(z) it should be Thus, by applying (6.43) we have The summations are from 0 to (not 1 to n)

212 213

Example 6.18 Solution Example 6.18 Solution Two equations above example Example 6.23 Solution Three eqns. Above (7.42)

216 224 252

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Page No.

Area/Element

Correction (also see attached pages from book)

e At = =

i =0

( At )i
i! V (t ) W i!
i

i =0

diag (1t )i , (2 t )i , L , (n t )i =V W i! i =0 i i (n t )i (1t ) (2 t ) , ,L, = V diag W i! i =0 i =0 i! i =0 i!

256 267 270

Eqn. (7.48) Middle of page Above (7.68)

L H ( s ) = C[s I n A] B + D H (t ) = C e At B + D (t )
1

0.5 z 1 1 z z X ( z) = 0.5 0.1 0 1 2 z 1 z e z e 0.2 Refer to equation (7.51) (not 7.3)

zs

Appendix I Appendix III

Entry 6, continuous time A.9, Page 517518

Should be:

(not k T)

Should be as in the attached pages. Delete the third equation in the section. Froebenius norm: not a title. Move with first two equations to right above Note on page 518.

Copyright 2009, Elsevier Inc. All rights reserved.