Errata: In AFM dynamics, c and k are missing subscript 2

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Location: page 156, line -11 and page 199, lines -1 and -2

To be consistent with the notation in Section 3.5, the dynamics for the AFM should be written as


(a missing subscript of 2 was added to and ) and, in Exercise 6.13, the control matrix had math instead of .

(Contributed by R. M. Murray, 14 Aug 08)