Difference between revisions of "Errata: Example 8.10 missing factor of v, a1 and a2 flipped"
Jump to navigation
Jump to search
Failed to parse (unknown function "\pder"): {\displaystyle \begin{aligned} A_\text{d} &= \left. \pder{f}{x} \right|_{(x_\text{d}, u_\text{d})} = \left. \bmat{0 & 0 & -v \sin\theta \\ 0 & 0 & v \cos\theta \\ 0 & 0 & 0} \right|_{(x_\text{d}, u_\text{d})} = \bmat{0 & 0 & 0 \\ 0 & 0 & v_\text{r} \\ 0 & 0 & 0}, \\ B_\text{d} &= \left. \pder{f}{u} \right|_{(x_\text{d}, u_\text{d})} = \bmat{1 & 0 \\ 0 & 0 \\ 0 & v_\text{r}/l}. \end{aligned} }
Line 10: | Line 10: | ||
The equation for <math>A_\text{d}</math> should read: | The equation for <math>A_\text{d}</math> should read: | ||
<center><math> | <center><math> | ||
− | \aligned | + | \begin{aligned} |
A_\text{d} &= \left. \pder{f}{x} \right|_{(x_\text{d}, u_\text{d})} | A_\text{d} &= \left. \pder{f}{x} \right|_{(x_\text{d}, u_\text{d})} | ||
= \left. | = \left. | ||
Line 18: | Line 18: | ||
B_\text{d} &= \left. \pder{f}{u} \right|_{(x_\text{d}, u_\text{d})} | B_\text{d} &= \left. \pder{f}{u} \right|_{(x_\text{d}, u_\text{d})} | ||
= \bmat{1 & 0 \\ 0 & 0 \\ 0 & v_\text{r}/l}. | = \bmat{1 & 0 \\ 0 & 0 \\ 0 & v_\text{r}/l}. | ||
− | \ | + | \end{aligned} |
</math></center> | </math></center> |
Revision as of 04:42, 7 October 2021
Chapter | Output Feedback |
---|---|
Page | 8-28 |
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: