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>< | + | <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
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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)
