Difference between revisions of "Errata: Example 8.10 missing factor of v, a1 and a2 flipped"
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Line 25: | Line 25: | ||
- \begin{bmatrix} | - \begin{bmatrix} | ||
\lambda_1 & 0 & 0 \\ | \lambda_1 & 0 & 0 \\ | ||
− | 0 & \dfrac{\color{blue} a_2 l}{v_\text{r}^{\color{blue} 2} & \dfrac{\color{blue} a_1 l}{v_\text{r}} \end{bmatrix} | + | 0 & \dfrac{{\color{blue} a_2} l}{v_\text{r}^{\color{blue} 2}} & \dfrac{{\color{blue} a_1} l}{v_\text{r}} \end{bmatrix} |
\begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta \end{bmatrix} | \begin{bmatrix} x - v_\text{r} t \\ y - y_\text{r} \\ \theta \end{bmatrix} | ||
+ \begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix}. | + \begin{bmatrix} v_\text{r} \\ 0 \end{bmatrix}. | ||
</math></center> | </math></center> |
Revision as of 05:02, 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