Boyd and Barratt, Linear Controller Design: Limits of Performance Prentice-Hall 1991, ISBN 0-13-538687-X Errors in first printing: p8 last line: "could" should be "might" p55 bottom fig 3.3 caption "specs and on" --> "specs are on" p87 3rd line: "(c.f. (4.4)))." should be "(c.f. (4.4)).)" p173 top equation should be \lim_{t \rightarrow \infty} p242 2nd par "matrix, and assuming ... to" --> "matrix. Assuming $T$ is stable, (10.82) is equivalent to" p278 middle [W^1/2 ; V^1/2] should be block diag (W^1/2, V^1/2) p346 middle: "only as fast a polynomial" (2nd "as" missing) p347 section 14.6.4 "often" occurs > once per sentence!: rewrite p359 bottom of caption: "contraints" (should be "constraints") and: "repsectively" (should be "respectively") (This caption got missed by spell because of a delatex bug. I fixed the bug and re-ran spell on all the figures. No other errors.) p370 last line of text should say "$\Ka$ and $\Kd$". p376 bottom line: "constrain the its size" *******above errors corrected for second printing, sent to PH sept 91; in stock at PH nov 1991. p404 both zames refs: "on" should be "of". also, in TAC citations, we have sometimes vol AC-44 and sometimes vol 44...