Errata: In Example 6.7, the open loop eigenvalues are incorrect

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Location: page 189, line 5

The open loop eigenvalues were computing using the incorrect expression from Example 2.1. Using the corrected dynamics matrix, the eigenvalues become


These computations are contained in the files balance_place.m, balance_params.m.

(Contributed by J. Civera, 11 Dec 2012)