Errata: In Example 6.10, the system input for the linearized model should be w instead of u
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Location: page 196, line 19, 23
The dynamics at the top of the example use the linearized input 
and hence the input for the remainder of the example is 
and not 
. This affects the two displayed equations in lines 19 and 23. The first displayed equation should read
and the second should read
(Contributed by J. W. Kim, 5 Nov 2011)
