P. 210, line 1

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The equation should be:

\begin{bmatrix} \xi_1(t) \\ \xi_2(t) \end{bmatrix} = e^t \left( \begin{bmatrix} 1 \\ 0 \end{bmatrix} \cos 2 t - \begin{bmatrix} 0 \\ -1 \end{bmatrix} \sin 2 t \right) - e^t \left( \begin{bmatrix} 1 \\ 0 \end{bmatrix} \sin 2 t + \begin{bmatrix} 0 \\ -1 \end{bmatrix} \cos 2 t  \right)

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