Erratum: “Motion Equations for the Ball and Beam and the Ball and Arc Systems” [ASME J. Dyn. Sys., Meas., Control., 2019, 141(12), p. 121006; DOI: 10.1115/1.4044619]

Abstract

In the original publication, Fig. 4 should state the references used were Refs. [7] and [8]. The caption of the paper is correct.On page 121006-7, under the subsection, “Comparison to Common Ball and Beam Models,” a consideration for when the offset, H, is defined such that the off-diagonal terms of the mass matrix are zero is not discussed. Defining H=−Jb+mRo2mRoleads to a mass matrix of M(q)=[mr2+Jbeam+JB+JB2mRo200JBRo2+m]which is a result that also does not agree with the mass matrix of Ref. [8].