Difference between revisions of "Errata: In equation (7.25), the last two endpoint equations are not correct"

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{{errata page
 
{{errata page
| chapter =  
+
| chapter = Output Feedback
| page =  
+
| page = 222
| line =  
+
| line = 4, 5
| contributor = R. M. Murray
+
| contributor = N. Fette
| date =  
+
| date = 3 Jan 2010
 
| rev = 2.10b
 
| rev = 2.10b
 
| version = Second printing
 
| version = Second printing
 
| text =  
 
| text =  
 +
In Example7.6, the last two lines of equation (7.25) are not correct.  The correct expressions are
 +
<center><amsmath>
 +
  \aligned
 +
  & \dot x(0) \sin\theta_0 - \dot y(0) \cos\theta_0 = 0,
 +
    &\qquad &
 +
    \dot x(T) \sin\theta_f - \dot y(T) \cos\theta_f = 0, \\
 +
  & \dot y(0) \sin\theta_0 + \dot x(0) \cos\theta_0 = v_0,
 +
    &\qquad &
 +
    \dot y(T) \sin\theta_f + \dot x(T) \cos\theta_f = v_f.
 +
  \endaligned
 +
</amsmath></center>
 +
The constants <math>v_0</math> and <math>v_f</math> are the vehicle's velocity at the start and end of the trajectory.
 
}}
 
}}

Latest revision as of 00:38, 5 January 2010

Return to Errata page

Location: page 222, line 4, 5

In Example7.6, the last two lines of equation (7.25) are not correct. The correct expressions are

math

The constants and are the vehicle's velocity at the start and end of the trajectory.

(Contributed by N. Fette, 3 Jan 2010)