Errata: In Example 2.1, the state space equations for the balance system are missing a divisor of J t in one of the terms
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Location: page 37, line 4
In the state space equations for the balance systems example, the numerator of the equation for 
is missing a divisor of 
in the 
term. The correct equation is
This error propagates to the next equation, where the term in the (3,4) entry of the dynamics matrix should be deleted. The correct expression is
(Contributed by C. Bray, 27 Apr 2010; A. Tits, 4 Sep 2010)
