Errata: In Example 2.7, q should be replaced by p (three places) and theta (one place)

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Location: page 49, line -8 to -4

The position variable for the balance system should be instead of . In addition, the quadratic term at the end of the first line of the displayed equation should be . The correct equation for the dynamics is therefore


In addition, the scaled variable in line -4 should be .

(Contributed by M. Kang [SNU], 7 Dec 2010)