Difference between revisions of "Errata: Example 8.10 missing factor of v, a1 and a2 flipped"
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Line 23: | Line 23: | ||
<center><math> | <center><math> | ||
\begin{bmatrix} v \\ \phi \end{bmatrix} = | \begin{bmatrix} v \\ \phi \end{bmatrix} = | ||
− | - | + | - \begin{bmatrix} |
\lambda_1 & 0 & 0 \\ | \lambda_1 & 0 & 0 \\ | ||
− | 0 & \dfrac{a_2 l}{v_\text{r}^2} & \dfrac{a_1 l}{v_\text{r} \end{bmatrix | + | 0 & \dfrac{a_2 l}{v_\text{r}^2} & \dfrac{a_1 l}{v_\text{r}} \end{bmatrix} |
− | |||
</math></center> | </math></center> |
Revision as of 04:56, 7 October 2021
Chapter | Output Feedback |
---|---|
Page | |
Line | -4 |
Version | 3.1.5 |
Date | 6 Oct 2021 |
Example 8.10 (Steering control with velocity scheduling) is missing a factor of in the definition of that propagates through the example. In addition, the coefficients and are swapped in the definition of .
The equation for should read:
This leads to an error in the definition of later in the example. In addition, the coefficients and are swapped, so the definition of should be:
The final controller then becomes