Errata: In Example 4.6, u d is not computed correctly

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Location: page 107, line 12--15

In Example 4.6, on the design of a state feedback controller for the compartment model, the computation for is not correct. The form of the feedback law is but the feedback law substituted into the dynamics is missing the term. To fix this, the equation on line 12 should be modified to read

The equilibrium concentration is then given by and the equilibrium output has the form

This equation can then be solved for as a function of the desired output by setting .

(Contributed by F. Zabala, 10 Oct 09)