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 R in part (c) is not needed. Instead, ρ should be ρ1, corresponding to the weight for Qu.
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 q1 = q2 = 0,q3 = q4 = 1 and ρ1 = 0.1 and explain the result. Choose q1 = q2 = q3 = q4 = 1 and explore what happens to the feedback gains and closed loop eigenvalues when you change ρ1. Use the scaled system for this computation.
(Contributed by J. Berg, 17 Oct 08)
