# Difference between revisions of "Errata: In Exercise 3.2: use observable form, delta is the steering angle and "title" should be "tilt""

From FBSwiki

(8 intermediate revisions by the same user not shown) | |||

Line 1: | Line 1: | ||

{{errata page | {{errata page | ||

− | | chapter = | + | | chapter = Examples |

− | | page = | + | | page = 091 |

− | | line = | + | | line = -6 |

| contributor = R. M. Murray | | contributor = R. M. Murray | ||

− | | date = | + | | date = 7 Jul 08 |

| version = First printing | | version = First printing | ||

| text = | | 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). | ||

}} | }} |

## Latest revision as of 18:43, 21 December 2008

Return to Errata page |

Location: page 091, line -6

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

- The input to the bicycle system is the steering angle , not the force on the steering wheel.
- The variable is the
*tilt*angle (not the "title" angle).

(Contributed by R. M. Murray, 7 Jul 08)