Example 8.10 is missing a factor of vr

[Richard Murray]

From Kiavalya Bakshi:

Please see example 8.10 of http://www.cds.caltech.edu/~murray/books/AM08/pdf/fbs-public_24Jul2020.pdf (this online version seems to correspond to the hardbound copy I have). 

• The linearized dynamics are incorrect since the nominal input speed does not appear in them. The correct linearized state transition matrix should reads $\begin{bmatrix} 0 \; 0\; - v_r \sin(\theta)\; \\ 0\; 0\; v_r \cos(\theta) \\ 0\; 0\; 0  \end{bmatrix}$.
• Further, if we want to place the eigenvalues of the characteristic equation corresponding to the $(e_y, e_\theta)$ dynamics at those of $s^2 + a_1 s + s_2$, the correct expression for the term $w_2$ reads $w_2 = \frac{l}{v_r}(\frac{-a_2}{v_r} + a_1 e_\theta)$ thus rendering the expression of $w_2$ and therefore the controller given in the current version of the book incorrect.

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[Richard Murray]

Fixed in commit 2a9c184.