Feedback Systems An Introduction for Scientists and Engineers Karl Johan °Aström Richard M. Murray Version v2.10b (February 22, 2009) This is the electronic edition of Feedback Systems and is available from http://www.cds.caltech.edu/∼murray/amwiki. Hardcover editions may be purchased from Princeton Univeristy Press, http://press.princeton.edu/titles/8701.html. This manuscript is for personal use only and may not be reproduced, in whole or in part, without written consent from the publisher (see http://press.princeton.edu/permissions.html). PRINCETON UNIVERSITY PRESS PRINCETON AND OXFORD

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