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

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 $v$ in the definition of $A_{\text{d}}$ that propagates through the example. In addition, the coefficients $a_{1}$ and $a_{2}$ are swapped in the definition of $w_{2}$.

The equation for $A_{\text{d}}$ should read:

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} }