FAQ: In equation (6.23), shouldn't the B matrix have omega 0^2?

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(Contributed by Richard Murray, 28 Aug 2016)

In equation (6.22), the input term has a factor . Shouldn't the matrix in equation (6.23) be to match this?

A: Actually, the term as listed is correct. The model uses the state space representation

It follows by working through the equations that the given equations are correct.