Errata: In Exercise 6.13, R should be removed and rho should be rho 1
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Location: page 200, line 9
Using the notation defined in the subsection on Linear Quadratic Regulators (part of Section 6.3), the matrix 
in part (c) is not needed. Instead, 
should be 
, corresponding to the weight for 
.
The revised text for the part (c) of the problem should read
Compute state feedback gains using linear quadratic control. Experiment by using different weights. Compute the gains for
and
and explain the result. Choose
and explore what happens to the feedback gains and closed loop eigenvalues when you change
(Contributed by J. Berg, 17 Oct 08)
