View source for Errata: In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt"

{{errata page
| chapter = Examples
| page = 091
| line = -6
| contributor = R. M. Murray
| date = 7 Jul 08
| version = First printing
| text = 
There are multiple corrections in this exercise:
* Instead of showing the system can be put in reachable canonical form, it is less messy to show that it can be put in observable canonical form (both of these terms are defined later in the text).  To make this change, update the state space equation to read
<center><amsmath>
  \aligned 
    \frac{d}{dt} \begin{bmatrix} x_1 \\ x_2 \end{bmatrix} &=
      \begin{bmatrix} 0 & 1\\ m g h / J & 0  \end{bmatrix} \begin{bmatrix} x_1 \\ x_2\end{bmatrix} +
      \begin{bmatrix} D v_0/(b J) \\ m v_0^2 h/(b J) \end{bmatrix} u, \\
    y &= \begin{bmatrix} 1 & 0 \end{bmatrix} x,
    \endaligned
</amsmath></center>
* The input to the bicycle system is the steering angle <math>\delta</math>, not the force on the steering wheel.
* The variable <math>\phi</math> is the ''tilt'' angle (not the "title" angle).
}}