Errata: In Example 2.1, the state space equations for the balance system are missing a divisor of J t in one of the terms

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Location: page 37, line 4

In the state space equations for the balance systems example, the numerator of the equation for math is missing a divisor of in the term. The correct equation is

math

This error propagates to the next equation, where the term in the (3,4) entry of the dynamics matrix should be deleted. The correct expression is

math

(Contributed by C. Bray, 27 Apr 2010; A. Tits, 4 Sep 2010)