View source for Errata: In Exercise 6.13, R should be removed and rho should be rho 1

{{errata page
| chapter = State Feedback
| page=200|line=9
| contributor = J. Berg
| date = 17 Oct 08
| version = First printing
| text = 
Using the notation defined in the subsection on Linear Quadratic Regulators (part of Section 6.3), the matrix <math>R</math> in part (c) is not needed.  Instead, <math>\rho</math> should be <math>\rho_1</math>, corresponding to the weight for <math>Q_u</math>.

The revised text for the part (c) of the problem should read
<blockquote>
Compute state feedback gains using linear quadratic
  control. Experiment by using different weights. Compute the gains
  for <math>q_1=q_2=0,q_3=q_4=1</math> and <math>\rho_1=0.1</math> and explain the
  result. Choose <math>q_1=q_2=q_3=q_4=1</math> and explore what happens to the
  feedback gains and closed loop eigenvalues when you change
  <math>\rho_1</math>. Use the scaled system for this computation.
</blockquote>
}}