Errata: Closed loop dynamics matrix is incorrect in Example 4.6

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Location: page 107, line 12-23

The dynamics matrix of the closed loop system (on line 12) is incorrect. The displayed equation should read

math

This error propagates into the computation of the equilibrium point in line 15, which should be

math

Following this, the dynamics matrix in the next displayed equation (line 19) is again incorrect. The shifted, closed loop dynamics should be

math

Finally, the characteristic equation on line 23 is incorrect and should instead be

math

(Contributed by S. Han, 12 Oct 08)