# Errata: References to first and second equations are switched in computer implementation discussion

From FBSwiki

Return to Errata page |

Location: page , line

(Contributed by R. M. Murray, )

Return to Errata page |

Location: page 224, line -7 to -5

The references to the first and second equations are switched. The text should read

The

secondequation consists only of additions and multiplications and can thus be implemented directly on a computer. Thefirstequation can be implemented by approximating the derivative by a difference...

(Contributed by E. Tuna, 13 Feb 08)