Reflect section titles from Ch 2 (feedback principles) in Chapter 1 and elsewhere [intro, principles, statefbk, outputfbk, pid, loopsyn]

[Richard Murray]

We would like to have a bit more emphasis on use of feedback for a) disturbance attenuation b) command signal following c) robustness d) shape behavior in the Introduction and tie it to Ch 2.

We plan to augment the contents of Chapter 1 to better reflect that ideas in Chapter 2. We want to keep the three big buckets under Section 1.5 (feedback properties), which are managing uncertainty, design of dynamics, and creating modularity. Under managing uncertainty we can talk about disturbance attenuation (2.3) and robustness to model uncertainty (2.5). Under design of dynamics we can include following command signals (2.4) and shaping behavior (2.8).

[Richard Murray]

Decide on how to handle this when treating chapter 2.

[Richard Murray]

As described in issue #54, one discrepancy was “command [signal] following” versus “reference [signal] tracking”. This is now regularized, but should discuss with Karl.

[Richard Murray]

Went through Ch 2 and regularized terms. Marked changes where Karl should take a look.