In Example 5.11, extra "a" in description of P
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| Edition | Second | 
|---|---|
| Version number | 3.0h | 
| Submission date | 9 Oct 2016 | 
| Your name | Chanud Yasanayake | 
| E-mail address | cyasanay@caltech.edu | 
| Chapter | 5 | 
| Page number | 5-23 | 
| Line number | 13 | 
| Current status | Closed | 
About halfway down the page it says "... hence P is a positive definite." The "a" should be removed.

