Errata: In Example 6.10, the system input for the linearized model should be w instead of u

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Location: page 196, line 19, 23

The dynamics at the top of the example use the linearized input math and hence the input for the remainder of the example is math and not math. This affects the two displayed equations in lines 19 and 23. The first displayed equation should read


and the second should read


(Contributed by J. W. Kim, 5 Nov 2011)