Errata: Example 8.10 missing factor of v, a1 and a2 flipped
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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} }
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: