Am08 errata on cart-pendulum

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The linearization given for the cart-pendulum in the text has errors: (i) The (3,4) entry of the A matrix on page 37 should not have J_t (ii) The (4,4) entry of the A matrix on page 188 should have M_t instead of J_t --Macmardg 09:45, 8 October 2008 (PDT) Doug MacMynowski