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Corrections: Essentials of Robust Control

This document lists 31 errors found in the first printing of the book "Corrections: Essentials of Robust Control" along with the corrections. It provides the page number, line number and details of each error and the corrected text. Most errors have been fixed in recent printings except those marked with ** which remain uncorrected. The list is intended to notify readers of mistakes and their fixes to improve understanding.

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37 views3 pages

Corrections: Essentials of Robust Control

This document lists 31 errors found in the first printing of the book "Corrections: Essentials of Robust Control" along with the corrections. It provides the page number, line number and details of each error and the corrected text. Most errors have been fixed in recent printings except those marked with ** which remain uncorrected. The list is intended to notify readers of mistakes and their fixes to improve understanding.

Uploaded by

agrothendieck
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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1

Corrections: Essentials of Robust Control

Errors listed here appeared in the first printing. Most of those errors have been
corrected in the recent printing except those with ∗∗.
Convention: Page xx is denoted as P xx. Line xxx from the top of the page is
denoted as Lxxx while line xx from the bottom of the page is denoted as −Lxx.

1. Pviii, L5, ftp ee.lsu.edu should be ftp gate.ee.lsu.edu


2. P20, L1, B = U1∗ AU1 should be B = U1∗ AV1 .
3. P38, -L9, at lease should be at least.
4. P42, -L6, left-unit eigenvectors should be left-unit eigenvectors such that yi∗ xi = 1.
5. P43, problem 3.7, G3 should be G1 , G should be G3 .
6. ∗∗ P62, problem 4.3, π should be πI.
7. P77, L2 and L3, L = −lqr(A0 , C 0 , eye(n), eye(p)) and L = −place(A0 , C 0 , P l)
should be L = −lqr(A0 , C 0 , eye(n), eye(p))0 and L = −place(A0 , C 0 , P l)0 (i.e.,
transposed).
8. P101, L12,

kS(s)k∞ = Bp−1 (s)S(s) ∞ ≥ |Bp−1 (z)S(z)| = |Bp−1 (z)|

should be
kS(s)k∞ = Bp−1 (s)S(s) ∞ ≥ |Bp−1 (z)S(z)|
(The last equality holds only when z is a right half plane zero of L.)
9. P102, Problem 6.4, Design a controller should be design a lead or lag controller.
5
10. P102, Problem 6.6 should be restated as: Let P = . Design a lead
(1 − s)(s + 2)
o
or lag controller so that the system has at least 30 phase margin with loop gain
≥ 2 for any frequency ω ≤ 0.1 and the smallest possible bandwidth (or crossover
frequency).
11. ∗∗ P114, L13-15, L2 [−∞, 0) should be L2 (−∞, 0].
12. ∗∗ P117, -L6, λi (A11 ) ≤ 0 should be Reλi (A11 ) ≤ 0.
13. ∗∗ P138, -L10, M (jw0 ) = U (jw)Σ(jw0 )V ∗ (jw0 ) should be M (jw0 ) = U (jw0 )Σ(jw0 )V ∗ (jw0 ).
14. P155, -L3, y1 should be y2 .
15. P158, Figure 8.20 should be partially filled.
2

1.5

0.5

−0.5

−1

−1.5

−2

−2 −1.5 −1 −0.5 0 0.5 1 1.5

Figure 0.1: Stability region for a = 5

2(s+1)
16. ∗∗ P161, L1, N = (s+2)2 should be N = s+1
(s+2)2

17. P163,,Problem 8.17, smallest should be largest.

18. P180, -L4, starp(P, K, dimy, dimu) should be starp(P, K).

19. P199, -L6,  


M11 /α M12 /α
⇐⇒ µ∆ (M ) = 1.
M21 M22
Hence
   
M11 /α M12 /α
max µ1 (F` (M, ∆2 )) = α: µ∆ (M ) M21 M22
=1 .
∆2 ∈B∆2

should be  
M11 /α M12 /α
⇐⇒ µ∆ = 1.
M21 M22
Hence
   
M11 /α M12 /α
max µ1 (F` (M, ∆2 )) = α: µ∆ M21 M22
=1 .
∆2 ∈B∆2
3

20. P200, L2
   
A/α B/α
αmax = α: µ∆ (M ) C D
=1 = 21.77.

should be    
A/α B/α
αmax = α: µ∆ C D
=1 = 21.77.

21. P238, L12, follows immediately form .. should be follows immediately from ...
22. ∗∗ P239, L4, The equivalence between (ii) and (iv) is obvious should be The
equivalence between (iii) and (iv) is obvious by noting the fact that A+BR−1 D∗ C
is stable if kGk∞ < γ.
23. P239, L13, XBR−1 D∗ C) should be XBR−1 D∗ C.
24. P254, L11, at t → ∞ should be as t → ∞.

25. P268, Problems 13.4 and 13.6, P = 10(s + 2)/s(s + 1)2 should be P = 10(s +
2)/(s + 1)3 .
26. P301, Problem 14.7, P = 10(s + 2)/s(s + 1)2 should be P = 10(s + 2)/(s + 1)3 .
27. P377, -
12, k∆(z)k should be k∆(z)k∞ .
28. P377 -L6, (u0 , u1 , . . . , ul−1 ) should be u = (u0 , u1 , . . . , ul−1 )
29. P382, L10, ρR (M ∆) = ∞ should be ρR (M ∆) = 0.
30. P383, L3, “Since D is nonsingular and D∗ D = D2 ∈ D” should be “Since D is
nonsingular and D∗ D ∈ D”.
31. P383, L17, “note that Q = Q∗ and Q∗ G = QG = GQ” should be “note that
Q∗ G = QG = GQ”.

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