Errata: In Example 2.7, q should be replaced by p (three places) and theta (one place)
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Location: page 49, line -8 to -4
The position variable for the balance system should be 
instead of 
. In addition, the quadratic term at the end of the first line of the displayed equation should be 
. The correct equation for the dynamics is therefore
In addition, the scaled variable 
in line -4 should be 
.
(Contributed by M. Kang [SNU], 7 Dec 2010)
