Difference between revisions of "Errata: Dynamics matrix in Example 6.7 has errors in (3,4) and (4,4) entries"

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The dynamics matrix in Example 6.7 does not match the derivation in Example 2.1 (see page 37).  The (3,4) entry is missing a factor of <math>J_t</math> and the <math>J_t</math> factor in the (4,4) entry should be <math>M_t</math>.  The correct dynamics matrix is
 
The dynamics matrix in Example 6.7 does not match the derivation in Example 2.1 (see page 37).  The (3,4) entry is missing a factor of <math>J_t</math> and the <math>J_t</math> factor in the (4,4) entry should be <math>M_t</math>.  The correct dynamics matrix is
<center><amsmath>
+
<center><math>
 
   A = \begin{bmatrix}
 
   A = \begin{bmatrix}
 
       0 & 0 & 1 & 0 \\
 
       0 & 0 & 1 & 0 \\
 
       0 & 0 & 0 & 1 \\[0.5ex]
 
       0 & 0 & 0 & 1 \\[0.5ex]
 
       0 & {m^2 l^2 g}/{\mu} &  
 
       0 & {m^2 l^2 g}/{\mu} &  
         {-c J_t}/{\mu} & {-\gamma J_t l m}/{\mu} \\[0.5ex]
+
         {-c J_t}/{\mu} & {-\gamma l m}/{\mu} \\[0.5ex]
 
       0 & {M_t m g l}/{\mu} & {-c l m}/{\mu}  
 
       0 & {M_t m g l}/{\mu} & {-c l m}/{\mu}  
 
         & {-\gamma M_t}/{\mu}
 
         & {-\gamma M_t}/{\mu}
 
   \end{bmatrix}.
 
   \end{bmatrix}.
</amsmath></center>
+
</math></center>
 
}}
 
}}

Revision as of 13:12, 28 August 2016

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Location: page 188, line -2

The dynamics matrix in Example 6.7 does not match the derivation in Example 2.1 (see page 37). The (3,4) entry is missing a factor of and the factor in the (4,4) entry should be . The correct dynamics matrix is

(Contributed by D. G. MacMynowski, 7 Oct 08)