Errata: In Example 6.5, reference variable should be L d instead of r

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Location: page 182, line 16-20, 25

In the predator-prey example, the symbol is used for the nominal growth rate of the hares. The reference value of the lynxes should be written as . The modified text should read

Putting these steps together, our control law becomes


where is the desired number of lynxes. In order to implement the control law, we must rewrite it using the original coordinates for the system, yielding


In addition, there should be a minus sign in front of the gain matrix and, on line 25, the reference value should be written as = 30.

(Contributed by C.-H. Choi, 7 Dec 2010)