Errata: In Example 6.8, the state error should be \xi and the input should be F
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Location: page 192, line 4-14
The symbol represents both the system state and the state error, and the symbol should be the input forces . The correct text should read
It can be verified that the system is reachable.
To compute a linear quadratic regulator for the system, we write the cost function as
(Contributed by C.-H. Choi, 7 Dec 2010)