Control Systems - Bolton Errata

Updated 5/15/2013

Chapter 1
Pg 3, figure 1.3(b), replace steering unit block with steering unit block in series with car block
Pg 4, line 7, replace "lines" with "line"
Pg 4, figure 1.4(c), replace V1 + V2 with V1 - V2
Pg 4, figure 1.5, replace furnace block with furnace block in series with room block
Pg 4, last paragraph, replace "house at that temperature" with "actual house temperature"
Pg 5, 3rd paragraph, replace "fire" with "heater" in 3 places
Pg 6, figure 1.8, replace fire block with heater block in series with room block
Pg 6, figure 1.9, replace Required with Actual
Pg 9, figure 1.13, replace "measure" with "measure of"
Pg 18, 2nd paragraph, replace "001 would" to "010 would"
Pg 19, figure 1.42, reverse the order of pins 5, 6, 7 and 8
Pg 19, 2nd equation, replace "I2" with "I1"
Pg 20, 2nd to last paragraph, 2nd line, replace change with will change
Pg 27, figure 1.61, add & power amp to the Differential amplifier block
Pg 28, figure 1.64, replace "Position of workpiece" with "Position of tool"
Pg 32, figure 1.70, replace Roller with Sheet for Process
Pg 36, exchange figures 1.78 and 1.79
Pg 36, figure 1.81(b) and (c), add short port lines to 2(A) and 3(R)
Pg 36, figure 1.82(a), add return spring on left side of cylinder
Chapter 2
Pg 38, 12th line from bottom, replace y2 with y1
Pg 40, figure 2.6, add ground symbol on bottom line
Pg 42, 5th line from bottom, replace I with J
Pg 42, last equation, replace I with J twice
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Pg 43, 1st and 2nd equations, replace I with J

Pg 43, figure 2.10, replace I with J twice
Pg 47, figure 2.17, switch p1 and p2
Pg 48, 11th line, replace input and output with bottom and top
Pg 49, 2nd equation, replace "Rq1" with "Rq2"
Pg 49, last line, replace input x with output y
Pg 50, 1st line, replace dx/dt with dy/dt
Pg 50, figure 2.19, replace Input with Time
Pg 50, 5th paragraph, replace If the input y with If the output y
Pg 50, 9th line from bottom, replace 1/T with 1/Tn
Pg 51, last paragraph, 6th line, replace Chapter 6 with Chapter 5
Pg 53, 11th line from bottom, replace -2s 3 with -8s 12
Pg 55, last sentence, replace drive shaft speed with drive shaft torque
Pg 56, 2nd equation, replace (V)(s) with V(s)
Pg 57, 16th line, replace The error signal with The amplifier output
Pg 57, 18th 20th lines, replace circuit can be R). with has inductance L, resistance R,
inertia J, damping c, as well as motor equations relating armature torque with current and
speed with back emf. The transfer function includes these parameters and is shown as G(s)
in Figure 2.22.
Pg 57, figure 2.22, replace 1/(sL+R) with G(s)
Pg 60, 10th line from bottom, replace Goverlll(s) with Goverall(s)
Pg 60, 5th line from bottom, replace producing with produced by
Pg 61, 2nd line, replace [1 + G(s)H(s) with [1 + G(s)H(s)]
Pg 61, 10th line, replace feedback loop gain with feedback gain
Pg 62, last paragraph, 4th line, replace output is X(s)= with output is Y(s)=
Pg 63, 4th paragraph, replace in Section 2.5.1 with in Section 2.6.1
Pg 63, figure 2.33, replace to ahead of with before
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Pg 64, figure 2.34, right side, replace + for X3 with - for X3

Pg 64, figure 2.37, replace beyond with before
Pg 66, figure 2.46, replace (G1 + 1) with(G2 + 1) in both the numerator and denominator
Pg 67, 3rd line from bottom, replace (1/s+3) with [1/(s+3)]
Pg 68, figure 2.50(b), replace I with J
Pg 68, figure 2.50 (b), fix left side of damper c and apply torque T to inertia J
Pg 68, figure 2.50 (d), replace Flow rate, Water & Power input p with Volumetric flow
rate, Water volume V & Heat rate input qi, respectively
Pg 69, question 9, replace 2.52 with 2.53
Pg 70, question 13, move the summing point with X2(s) to the right just after the takeoff point
but before the 1/s block
Chapter 3
Pg 71, 6th line, replace increases with increase
Pg 71, last 3 sentences, replace multiplied by with of three times
Pg 74, last line of 3rd example, replace (1 e-5t) with (1 e-2t)
Pg 77, 8th line, replace 2s+1 with 4s+4
Pg 77, 9th line, replace 2A with 4A
Pg 77, 10th line, replace A with 4A
Pg 78, 1st line, replace Section 2.3.3 with Section 2.4
Pg 78, 2nd equation, replace Y(s) with sY(s)
Pg 78, 5th equation, replace x with y
Pg 78, 6th equation, replace X(s) = G(s)Y(s) with Y(s) = G(s)X(s)
Pg 78, 7th equation, replace x with y
Pg 78, figure 3.3, replace Input with Time
Pg 79, 14th line, replace there is 2V with there is 3V
Pg 79, 5th equation, replace x and (2/RC) with vc and (3/RC) respectively
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Pg 80, 1st equation, add a closing parenthesis to denominator of last term

Pg 80, 6th equation, square the last n term in denominator
Pg 80, 9th line from bottom, replace see Figure 2.13 with see Figure 2.20
Pg 80, 7th equation, replace both + with -
Pg 81, 6th line, delete and will factorize
Pg 81, 2nd equation, change exponents from negative to positive
Pg 83, question 4, replace V(s) with V
Pg 83, question 7, delete unit impulse
Chapter 4
Pg 85, 3rd paragraph, 3rd line, replace stead with steady
Pg 86, 6th equation, replace 1/10 with 9/10
Pg 86, 7th equation, replace ln10 with ln10 ln9
Pg 86, 8th equation, replace ln10 with ln10 ln9
Pg 86, 10th equation, replace 9/10 with 1/10
Pg 86, 11th equation, replace ln10 ln9 with ln10
Pg 86, 12th equation, replace ln10 ln9 with ln10
Pg 87, 2nd equation, replace t10 = ln10 = 2 ln10 = 4.6 s with td = ln2 = 2 ln2 = 1.4 s
Pg 87, 6th and 7th equations, replace 0.2 with 0.02
Pg 87, 6th line from bottom, replace 49.7, with 20.4
Pg 87, 8th equation, replace t10= ln10 =49.7 ln10 =114.4 s with td = ln2 =20.4 ln2 =14.1s
Pg 87, 9th equation, replace 49.7 ln9 = 109.2 s with 20.4 ln9 = 44.8 s
Pg 88, 5th line, replace see Section 3.6 with see Section 3.5
Pg 88, 8th line from bottom, replace x with y
Pg 91, 6th line, replace see Figure 4.1 with see Figure 4.2
Pg 91, 6th line from bottom, replace 2/f with 2/
Pg 92, 8th line, replace 10 and 9.7 with 4.2 and 4.1, respectively
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Pg 92, 9th line, replace higher with smaller

Pg 92, 9th and 10th lines, replace 1 and 0.97 with 0.63 and 0.62, respectively
Pg 92, figure 4.3, replace 10 and 1 with 4.1 and 0.62, respectively
Pg 92, figure 4.4, replace 0.7 with 0.5
Pg 93, last 3 lines, replace By comparison and so is: with K=n2 therefore increasing K
decreases rise time and settling time but has no effect on overshoot.
Pg 94, 1st 13 lines, delete
Pg 95, 4th equation, replace +p1 and +p2 with - p1 and - p2
Pg 95, 9th line from bottom, replace then with and
Pg 97, 1st equation, replace j1.73 with j0.87
Pg 97, 2nd equation, replace j2.8 with j1.4
Chapter 5
Pg 100, 14th line from bottom, replace sin(t+90o) with sin(t+/2)
Pg 101, 4th and 7th lines of section 5.3, replace Figure 5.1 with Figure 5.5
Pg 101, 7th line of section 5.3, replace leads with lags
Pg 101, 8th line of section 5.3, replace Xc/R with -R/Xc and replace Xc=C with Xc=1/C
Notes for Pg 101:

V = VR + VC with VR=Ri and i=C dVC/dt so V = RC dVC/dt + VC

Thus, VC/V = 1/(RCs+1) from which one can get tan = -RC
Also, since i=C dVC/dt then VC/I = XC = 1/C so tan = -R/XC

Pg 102, 8th line, replace y=sint with y=sin(t+)

Pg 102, 8th line, replace dy/dt=cos(t+) with dy/dt=sin(t+)
Pg 102, 3rd equation, replace sin(t+) + sin(t with sin(t+) + sin(t+
Pg 103, 13th line, replace system has with system with k=1 has
Pg 103, 3rd eqn, replace + j222 with - j222
Pg 104, 4th line from bottom, replace =-72o with = -72o = -1.26 radians
Pg 104, last line, replace -72o with -1.26

Pg 105, 8th line, replace system has with system with k=1 has
Pg 105, 2nd equation, replace j2n with j2n in denominator of last term
Pg 106, 2nd and 3rd lines from bottom, replace 4 with 6 and 5 with 7
Pg 108, figure 5.9 title, replace 1/s with 1/sn
Pg 108, 3rd line from bottom, replace sn with sm
Pg 110, 2nd paragraph, last line, replace 45 with -45
Pg 111, 3rd line, replace (1/100) with is 1/100
Pg 111, 7th line, replace 90 with -90
Pg 111, 9th line, replace s = 1/ with s = - 1/
Pg 111, figure 5.13, delete from y-axes of both plots (4 places)
Pg 111, figure 5.13 title, delete 1/
Pg 113, figure 5.14, upper plot, replace 0.5 with 0.4
Pg 113, figure 5.14, delete rad/s twice
Notes for Pg 113: The following figure is more detailed than figure 5.14

0.2

5
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Pg 113, last line, replace Table 5.3 with Figure 5.14

Pg 114, delete table 5.3
Pg 114, figure 5.15, replace 10, 100, 1000 with 1, 10, 100 in both plots
Pg 114, figure 5.15, phase asymptote should be from /n = 2 to 50 rad/s instead of 1 to 100
rad/s
Pg 114, 16th line from bottom, replace one decade down from with at 0.2 times
Pg 114, 15th line from bottom, replace one decade up from with at 5 times
Pg 114, 11th line from bottom, replace Table 5.3 with Figure 5.14
Pg 114, 10th line from bottom, replace 5.4.6 with 5.4.7
Pg 115, lines 2 and 4, replace 5.4.5 with 5.4.6 twice
Pg 115, line 7, replace Tables 5.2 and 5.3 with Table 5.2 and Figure 5.14
Pg 116, 12th line from bottom, replace from value with from the value
Pg 119, 21st line, add or 6 to 8 dB after 2 to 2.5
Pg 119, 15th line from bottom, replace 45o with 55o
Pg 121, 4th line, replace gain margin with phase margin
Pg 121, figure 5.31, phase plot, add horizontal line at -145o between 0.1 and 1 rad/s
Pg 121, 10th line, replace If follows with It follows
Pg 121, 12th line from bottom, replace by 2 = with by 2 =
Pg 121, 12th line from bottom, replace = 1.3 with = 0.79
Pg 122, 15th line, replace addition with additional
Pg 122, 16th line, add m = desired PM uncompensated PM (may need to add 5 degrees
to get desired PM)
Pg 122, 10th line from bottom, replace m with m
Pg 122, figure 5.34, replace 0o with -180o
Pg 122, 3rd line from bottom, replace 0o with -180o
Pg 122, 2nd line from bottom, replace 180o with 0o
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Pg 124, question 5(a), replace 10/s2 with 1/s2

Pg 124, question 6(e), replace 0.2 and 20 with 0.4 and 10
Pg 125, question 11, replace 0/0.02s with 0.02s
Chapter 7
Pg 134, figure 7.1, exchange high and low
Pg 135, figure 7.2, controller output is on at temperatures below switch point (and off at
temperatures above)
Pg 135, last 2 lines, exchange high and low
Pg 136, 2nd paragraph, 1st line, replace the use of a with a gate turn off
Pg 136, 2nd paragraph, 4th line, replace the voltage V becomes high with the gate current
becomes negative
Pg 136, y-axis label in bottom plot in figure 7.7, replace Input with Load
Pg 137, figure 7.9, move diode from across transistor collector and emitter to across load
Pg 137, figure 7.11, add ground symbol on bottom line
Pg 138, figure 7.12, move ground up two lines
Pg 141, 5th line, replace K with Kp
Pg 142, figure 7.27, replace straight line between 0 and 1 sec with curved line
Pg 144, figure 7.29, replace M, A or K hled with M, A or R held
Pg 147, last equation, replace 2n with 2ns
Pg 148, 8th line, replace reduces with raises
Pg 153, last line, replace floppy disk with flash drive
Pg 154, 3rd line from bottom, replace switched is with is switched
Pg 158, question 3, replace 90o with 90oC
Pg 158, question 8(b), replace Kd = 1.0 s with Kd = 5 s
Pg 158, question 8(c), replace Ki = 0.5 s-1 with Ki = 5 s-1
Pg 158, question 9, replace 30% proportional band with proportional gain of 3.33
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Pg 159, question 13, replace (s+0.1s) with (1+0.1s)

Pg 159, question 14, replace Determine the way the output will vary with time with
Determine the system output from a unit step input
Appendix A
Pg 160, 1st paragraph, 4th line, replace function with variable
Pg 161, 10th line, replace with respect to x with with respect to t
Pg 161, 4th equation, replace dt with dy on left side of equation
Pg 161, last equation, replace e A with e A
Pg 162, 2nd line, replace B = TL T with B = TL To
Pg 162, 24th line, delete involving
Pg 162, 5th equation, replace - lnT with lnT
Pg 162, 6th equation, replace -T with T
Pg 163, 1st and 3rd equations, replace -B with B
Pg 163, 11th line, replace B = TL T with B = T0 TL
Pg 163, 5th equation, replace at + TL with at + To
Pg 163, 7th equation, replace -B with B
Pg 163, 8th equation, replace aT + To with at + To
Pg 164, 1st equation, replace -B with B
Pg 164, 2nd line, replace -a with a
Pg 164, 5th equation, replace kA with kA
Pg 165, 7th equation, replace -(n with (-n
Pg 165, 8th equation, replace jt with jt
Pg 165, 20th and 21st lines, replace

with

Appendix B
Pg 167, 2nd paragraph, 7th line, replace s is a constant with s is a variable
Pg 168, 4th paragraph, replace value of e-0 is -1 with value of e-0 is 1
Pg 168, 6th paragraph, replace becomes -1 with becomes 1
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Pg 169, 9th line, replace 1/s and 2/s with 1/s2 and 2/s2
Pg 169, 11th line, replace 2/s2, is 8/s2 with 2/s3, is 8/s3
Pg 169, 6th equation, replace

with

Pg 170, 4th line, replace f(0) = 2 with f(0) = 0

Pg 172, 1st line, replace B = -2/3 with B = -6
Pg 172, 1st equation, replace

with

Pg 172, 1st equation, replace

with

Answers
Pg 173, chapter 1 answer 3 (b), replace "controller - motor" with "controller - differential
amplifier, correction - motor"
Pg 173, chapter 1 answer 5, delete last 3 words
Pg 173, chapter 1 answer 8 (b), replace "button pressed" with "solenoid energized"
Pg 174, chapter 2, answer 3 (d), replace p=c & cpq with q1=Vc & cq, respectively
Note for chapter 2, answer 3(d): rate of heat removed = q2=(dm/dt)c(o-i) where dm/dt = q
Pg 174, chapter 2 answer 8, exchange answers for (b) and (c)
Pg 174, chapter 2 answer 12, replace 4 with 8 twice
Pg 174, chapter 2 answer 13, replace 40 in both denominators with 4)
Pg 174, chapter 2 answer 13, replace s in the second numerator with (s+16)
Pg 175, chapter 3 answer 15, replace 0.5 with 0.2
Pg 175, chapter 4 answer 1(a), replace 9.2 with 2.8
Pg 175, chapter 4 answer 1(b), replace 2.3 with 0.69
Pg 175, chapter 4 answer 1(c), replace 0.77 with 0.23
Pg 175, chapter 4 answer 2, replace 69.1 with 20.8
Pg 175, chapter 4 answer 3, replace 20 with 6.0
Pg 175, chapter 4 answer 6, replace 2.6 with 1.6
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Pg 175, chapter 4 answer 7, replace oscillatory (b) and (d) with oscillatory (c) and (d)
Pg 175, chapter 5, answer 2(a), replace 3 with 1
Pg 175, chapter 5, answer 4(b), replace 40, 20, 0 with 0, -20, -40 in gain plot
Pg 175, chapter 5, answer 4(c), replace -20dB/decade and -20 with -40dB/decade and
-40 in gain plot
Pg 175, chapter 5, answer 4(c), replace phase asymptote with one from 0.4 rad/s and 0 o to
10 rad/s and -180o
Pg 176, chapter 5, answer 5(c), delete horizontal line in gain plot and extend +20dB/decade
line to the left
Pg 176, chapter 5, answer 5(c), extend horizontal line in phase plot to 2 rad/s and move right
end to 50 rad/s and -90o
Pg 176, chapter 5, answer 6(d), replace 3.2x100/(s2 + 2s + 100) with 3.2/(1+s)(1+0.1s)
Pg 176, chapter 5, answer 11(b), replace about 15 dB with 35 dB
Pg 176, chapter 5, answer 11(c), replace about 32o with 78o
Pg 176, chapter 5, answer 13, replace 1.7Db, reduced by factor of 1.2 with 1.2 or 1.6dB
Note for chapter 5, answer 15, using m = 24 deg gives (1+0.36s)/(1+0.15s) for PM = 38 deg
(using m = 24+5 = 29 deg gives (1+0.38s)/(1+0.13s) for PM = 42 deg)
Pg 176, chapter 5, answer 16, replace (10s + 10)/(80s + 1) with (1 + 20s)/(1 + 112s)
Pg 176, chapter 7, answer 5, replace 50% with 500 m3/h
Pg 177, chapter 7, answer 8, figure A.7(c), line from 1-2 s is curved, line from 2-3 s goes from
70-80%, and line from 3-4 s is curved and goes from 80-75%
Pg 177, chapter 7, answer 12, replace (s=5) with (s+5) in denominator
Pg 177, chapter 7, answer 13, replace (a) - 40o, (b) 15o with (a) - 91o, (b) 21o
Pg 177, chap 7, answer 14, replace with (a) 0.44(1 e - 0.9t), (b) 1 1.1 e - 0.25t sin(0.58t+1.2)

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