# 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 in part (c) is not needed. Instead, should be , corresponding to the weight for .

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 and and explain the result. Choose and explore what happens to the feedback gains and closed loop eigenvalues when you change . Use the scaled system for this computation.

(Contributed by J. Berg, 17 Oct 08)