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

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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

This leads to an error in the definition of later in the example. In addition, the coefficients and are swapped and there was an error in the sign, so the definition of should be

The final controller then becomes

These corrections also change the controller response in Figure 8.13. The corrected response is

Figure-8.13-steering-gainsched.png

Acknowledgements: Thanks to Kaivalya Bakshi and Theunis Botha for pointing out the errors in this example.