... between the prescribed and the actual task are then fed backinto the controller, which then synthesizes the necessary corrective signals.These are, in turn, fed back into the actuators, which then ... arecovered in the first three chapters, thereby making the book self-contained.These three chapters, moreover, are meant to introduce the reader to the notation and the basics of mathematics and rigid-body ... rather than poly-nomial. Each of these two equations, then, leads to a contour in the planeof the two variables, the desired solutions being found as the coordinatesof the intersections of the...