Errata: In Example 11.9, the bound on the gain crossover frequency should be 6.48 rad/sec

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Location: page 335, line 11, 13

In Example 11.9, the bound on the grain crossover frequency should be

This also changes the bound on the actuator bandwidth in the next sentence, which should read

If the actuators have sufficiently high bandwidth, e.g., a factor of 10 above or roughly 10 Hz, then we can provide robust tracking up to this frequency.

(Contributed by F. Zabala, 4 Jan 2010)