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

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| text = | | text = | ||

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>< | + | <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 | + | {-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}. | ||

− | </ | + | </math></center> |

}} | }} |

## Revision as of 13:12, 28 August 2016

Return to Errata page |

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)