FAQ: In equation (6.23), shouldn't the B matrix have omega 0^2?
From FBSwiki
(Contributed by Richard Murray, 28 Aug 2016)
In equation (6.22), the input term has a factor 
. Shouldn't the 
matrix in equation (6.23) be 
to match this?
A: Actually, the term as listed is correct. The model uses the state space representation
It follows by working through the equations that the given equations are correct.
