A typo in equation (6.24).

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The closed loop transfer function \(G(s)\,\) (which means \(H_{yr}(s)\,\)) should be \(\frac{\omega_0^2}{s^2+2\zeta\omega_0+\omega_0^2}\,\). The last term of the denominator is \(\omega_0^2\,\) rather than \(\omega_0\,\).

--Shuo