ERRATA LIST Robust and Adaptive Control with Aerospace Applications 1 st Edition, Springer, 013 Eugene Lavretsky and Kevin A. Wise Revised on 06 Aug 014 Part I Introduction 1) Page 10, change the p equation : x cos sin 0 cos 0 sin 1 0 0 u y sin cos 0 0 1 0 0 cos sin v h 0 0 1 sin 0 cos 0 sin cos w Chapter 1 1) Page 1, remove boxes from around the equations Chapter 1) Page 34, change ) Page 34, change 4 1 J* J* J * J * 1 J * H* x, xj*, t x1 x x13 x 4 x x1 x x x
J * H* x, xj* x, t, t t 1 J* J* J* = x x x 3x 4 1 1 4 x x1 x 3) Page 36, change J* J* J* t x x T 1 1 T xqx 4 BR B xj* Ax 4) Page 36, change 1 1 1 T T K t u* x, t R B xj* R B P t x K t x 5) Page 46, change
A 1 Q si Chapter 3 1) Page 57, change (need comma and space) e z Az B, z, u x 0 Cc Dc A, B 0 A B ) Page 57, change e z Az B z x x u u 0 1 0 0 A 0 C c, B D c 0 0 A B,,,, 3) Page 59, change
n pn n u r x 4) Page 60, change p i x i x i i1 u K x s a uk x Ke 5) Page 60, change x A BK x Fr e c e where the extended state x e is (3.18) integrated p -times, and F In 0. u nu nu nx 6) Page 63, change the following figure T the same figure as in Figure 1.3, page 8.
7) Page 63, Change A V Z Z z 8) Page 63, change Z A z Az ZqZ e V M M Z q A M q M Z z q e Z 9) Page 64, change
Z A Z 0 Z Az 0 z V q q 0 M Z M M 0 e e M Z q Z c e 0 0 0 0 1 e a 0 0 a aa 10) Page 64, change 0 1 0 0 0 e e 0 Z A 0 Z 0 Z z A z 0 V q M Z q 0 c 0 M Z Mq M Z 0 e e 0 0 0 0 0 1 e e a 0 0 0 a aa 11) Page 65, change q e 11 0 0 A z T T zqz z 0 q 0 0 e 0 e 1) Page 67, change
I L 13) Page 67, change (keep gether on same line) I L Chapter 4 1) Page 75, change
u 1 u t dt u u t dt u sup u t t 1 ) Page 77, change 3) Page 88, change
section 4.4 4) Page 94, change K = [ -0.97881 64.7534-13.163-0.11795-3.1046 0.151197] Chapter 5 1) Page 101 change 1 ) Page 10, change
u Ke y GKew z GKewv erz rgkewv E s S s R s W s V s 3) Page 114, change det I L s, 0 4) Page 115, add space between x and is 5) Page 116, change 1 I L s s
6) Page 119. change I L 1 7) Page 119, a.0 and a 6.0 z q 8) Page 1, change GM 1 1 IL IL 0.695 1.7305 ; PM 4.84 deg -11.4 4.7 db 9) Page 1, change GM -11.4 7.8 db; PM 4.84 deg 10) Page 14, change
should be examined 11) Page 17, change is 1) Page 130, change add space in front and after M, and change 5.8 5.7 13) Page 133, change
14) Page 136, change -0.051 0.10453-0.9945 0.18-0.7630 A 574.70 0 0 ; B -53.610 33.5 16. 0 0 195.5-59.40 (0.1) -0.051 0.10453-0.9945 0.18-0.763 A 574.7 0 0 ; B 195.5-59.4 16. 0 0-53.61 33.5 (0.) 15) Page 138, change -0.051 0.1045-0.9945 0.18-0.763 574.7 0 0 195.5-59.4 Ap Bp 16. 0 0-53.61 33.5 Cp D p 1 0 0 0 0 0 1 0 0 0 0 0 1 0 0 16) Page 158, change
Chapter 6 1) Page 164, change N X X 1 0 ny ny1 ) Page 166, change : make bracket same size as other brackets. 3) Page 169, change
X n y.95e-001-9.4676e-001 9.1946e-001-1.6075e-00-5.3104e-00-1.0379e-001-9.1764e-00j-1.0379e-001 +9.1764e-00j 9.1946e-001-1.440e-003-1.0897e-00j-1.440e-003 +1.0897e-00j -4.334e-00-3.3555e-00j -4.334e-00 +3.3555e-00j 3.693e-001 +.36e-00j.551e-001 3.693e-001 -.36e-00j 4) Page 173, change A re 5) Page 173, change N X X 0 1 ny ny1-1.6565e-001-5.8888e-00 4.4744e+000.4157e+000 6.395e-001-1.8175e+001 6) Page 173, change delete (6.46) 7) Page 173, change -6.6917e+003
8) Page 174, change (6.46) 8) Page 177, change (6.53) 9) Page 177, change (6.54) 10) Page 178, change (6.53) 11) Page 179, change
(6.57) 1) Page 179, change (6.58) 13) Page 179, change (6.59) 14) Page 179, change 1 1 LQG c c f f L s K si A BK K C K C si A B LQG c 1 L s K si A B 15) Page 179, change
P f 0 16) Page 179, change 1 1 u K si ABK K C K Cxv c c f f 1 1 K si A BK K C K Cx K si A BK K C K v c c f f c c f f KxK siabk KC Kv c c c f f 17) Page 180, change (6.6) change (6.51) (6.55) change (6.54) (6.59) change (6.58) (6.6) change (6.61) 18) Page 180, change the following text:
in which the first term approximately equals the state feedback control law, but the second term amplifies the sensor noise. This feature limits the amount of recovery possible. In the use of this design method for making the LQG system robust, the sensor noise amplification in (6.6) must be examined. 19) Page 181, change 0) Page 183, change (6.53) 1) Page 183, change (6.64) : need add the e e-006, e-00 these two numbers ) Page 185, change
(6.74) 3) Page 185, change Ac C c B D B c1 c D c1 c 0 0 0 0 0 0-1.0854e+000-3.4041e+00 0-1.189e+001 0 6.80e-003-1.1116e+000-1.095e+000 0 0-3.9887e-009 1.64e-006 0 1.0-3.3010e+003-1.1944e+003 9.3804e+004 -.1408e+004-1.1005e+00-4.9477e-001-1.7903e-001 1.4060e+001 -.087e+000-1.8035e-003 1.0 0-1 3.707e-00-6.0760e+000 0-9.717e-005 7.8188e-00 0 3.9887e-009-1.64e-006 0-9.0547e-007 1.3375e-004 0 0 0 0 4) Page 186, change (6.73)
5) Page 189 6) Page 190, change : This text should not be italic 7) Page 191, change : (6.80), and the text in the boxes should not be italic. 8) Page 19
: Change (6.83) (6.8). The text on this page should not be italic. 9) Page 193, change
: (6.88) (6.87), (6.86) (6.85), (6.9) (6.91). This page should not be italic. 30) Page 194, change
: (6.94) (6.93), (6.94) 6.93), (6.88) (6.87), (6.88) (6.87). The text in the box should not be italic. 31) Page 196, change
: ), (6.89) (6.88), (6.88) (6.87). 3) Page 197, change : (6.101) (6.100) 33) Page 198, change : (6.10) (6.101), (6.103) (6.10), (6.110) (6.109), (6.107) (6.106)
34) Page 199, change : (6.110) (6.109), (6.111) (6.110), (6.111) (6.110), (6.11) (6.111) 35) Page 00, change : (6.10) (6.101), 36) Page 01, change : (6.108) (6.107) 37) Page 01, change : (6.11) (6.111) 38) Page 01, change
: (6.108) (6.107), (6.11) (6.111) 39) Page 05, change : remove the e 40) Page 06, change 41) Page 06 change : (6.59) (6.58) 4) Page 07
, (6.88) (6.87)
Part II Chapter 7 1. Page : Exercise 7.3: Change (7.13), (7.14), (7.15), (7.16), (7.17), (7.18), (7.19), (7.0), (7.1), (7.), and (7.3). (7.13) through (7.3).. Page 39: Example 8.9: Change 6sint6t costt 6tt 6.5 6 sin t6t costt 6 6tt 15 9 3. Page 39: Example 8.9: Change exp6.5 6 sin 6 cos Chapter 8 exp15 6 sin 6 cos ct 0 1 4 x t x t t t t t x t c t 0 0 0 0 0 0 0 ct x t x t t t t t x t c t 0 0 0 0 0 0 0 1. Page 61: Example 8.10: Change x ref Axref br x ref Axref bkr r. Page 58: Change sentence 0 regressor vecr, which is assumed be uniformly bounded and Lipschitz-continuous in t. T T T 1 T V e, K e PeK K Ve, Ke Pe K K. V e, K..., 1 T T T V e K e Pee Pe K Kˆ T T T T T T T AebK Pee P AebK K e Pb e Qe 0 3. Page 58: Change 4. Page 58: Change the next equation for 5. Page 61: Change equation x ref Axref br x ref Axref bkr r. Chapter 9 1. Page 8: Eq. (9.47): Right-justify the equation number (i.e., move it the right). Chapter 10 1. Page 311: Table.10: Change the third equation from the botm : ˆ T ˆ T u Imm Ku ubl xp This equation in the current book version has an incomplete sub-index in I.. Page 314: Exercise 10.1: In the problem statement, replace have with has.. 3. Page 314: Exercise 10.: Add the minus sign the last equation in the problem statement: K ˆ 0 Chapter 11 1. Page 35: Replace text and equations starting from Eq. 11.6 through Eq. 11.9 with: x K. x
. Page 37: Change section number from 11.3 subsection number 11..3. 3. Page 38: Replace the first sentence and the second sentences with the sentence shown below in yellow: 4. Page 39: Change Eq. (11.59) : 1 j 1 j f ˆ ˆ. j max j max j j j j j Chapter 1 1. Page 364: Replace with R in Fig 1.5, as shown below:
. Page 37: Change Example 1.3 Example 1.1. 3. Page 373: In the sentence In addition, we impose a restriction on the runway distance : Change fl 4 h. 4. Page 374: Change the second equation as shown below (change B(,) 0.00044): V 0.038 18.984 0 3.174 0V 0.001 0.63 1 0 0 q 0 0.759 0.518 0 0q 0 0 1 0 0 h 0 50 0 50 0h x 10.1 0 0 0.00044 th 0.05 0.011 x Ax Bu e 0 0 u 0 0 B 5. Page 375: Change equation at the p of the page as shown below (change B(,) 0.00044): V 0.038 18.984 0 3.174 0V 0.001 0.63 1 0 0 q 0 0.759 0.518 0 0q 0 0 1 0 0 h 0 50 0 50 0h x 10.1 0 18.984 0 0.00044 0.63 th 0.05 0.011 0.759 g e 0 0 0 u 0 0 0 6. Page 376: Change 4 th from the botm equation as shown below: B A A Bg h x x
Q lqr R diag 0. 0 0 0 1, diag 10 10 lqr Chapter 13 1. Page 406: Insert a space between y cmd and y in Eq. 13.87. There are two equations there, not one.. Page 409: Move superscript T in Eq. (13.99) the right and outside of the parenthesis, as in: 3. Page 416: Exercise 13.4: Change Example 13.3 Example 10.. Chapter 14 1. Page 49: Eq. 14.46: Change : 1 T 1 T V ex, 1 ey R0 ey ex P vq0 P v ex v 1 T T T 1 B P v ex ex P v ex ex P v Bg v. Page 430: Eq. 14.48: Change : trace, 1 T 1 ˆ T T T xu e C R0 WS T ˆ T e O v x, u x bl ˆ bl x, min min 0 min V e P e Q P e x v x v x 1 1 1 1 v v T e y 1 T T min R0 ey B P v ex max kg B P v ex ex ve k xu ˆ, x max 3. Page 430: Eq. 14.49: Change : max bl
, min 0 min min V e Q P P e x v v x 1 1 1 1 v v 1 min R0 ey w max kgw ex ve k xu ˆ, x max max bl 4. Page 430: Eq. 14.50: Change : x, min 0 min 0 min 0 V e Q P P e 1 1 1 1 v v 1 min R0 ey w max kgw ex ve k xu ˆ, x max max bl x 5. Page 431: Eq. 14.5: Change : 1 1 V ex, 1 min R0 e v min Q0 min P0 min P0 vkmax max b e 1 1 w max kgw ex vmax kmax b1 ex v y x 6. Page 431: Eq. 14.53: Change : c Q P vk b, c k g 1 min 0 min 0 max max max 1 c3 1, c4 vmax kmaxb1 v 7. Page 431: Eq. 14.54: Change : 1, 3min 0 min 0 V e c R e P e x y x c1 ex c ex wc3 w c4 e x e, w 1 y x x, 3 min 0 min 0 x c R e P e e w 8. Page 43: Eq. 14.61: Change : v1 k Q P min 0 min 0 b max max 9. Page 43: Eq. 14.6: Change : det C c c c 1 3 1 1 1 min Q0 min P 0 vkmax max b max kg O v v 10. Page 433: Eq. 14.66: Change :
11. Page 433: Eq. 14.67: Change : 1 V e R e P e v v 1 x, 1 min 0 y min 0 x min v min v e e :, O x x ex rv min P 0 1. Page 435: Table 14.1: Change 11 th and 1 th equations in the table as shown below: Back cover 1. Second paragraph: Change The text is a three-part treatment The text is a two-part treatment.