In Section 12.1, the vector w corresponding to Fig. 12.1 seems to be incorrect

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Edition Second
Version number 3.0h
Submission date 11/19/2016
Your name Chanud Yasanayake
E-mail address cyasanay@caltech.edu
Chapter 12.1
Page number 12-4
Line number -5
Current status Submitted

It says "The system in Figure 12.1 can be captured by choosing w = (r,d,n)..." However d and n have not been defined. Should it be (r,v,w) instead?