Errata: In Example 4.13, inequality should be for x 1 instead of x 2

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Location: page 121, line 10

In Example 4.13, the sentence defining the invariant sets for the stabilized inverted pendulum should read:

Hence for any such that and will be inside the invariant set defined by the level curves of .

(Contributed by S. Livingston, 28 Feb 2011)