Errata: F R v F^T term dropped in proof of Theorem 7.4
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Location: page 216, line -7 to -3
In the proof of Theorem 7.4, the term FRvFT is dropped in the equations for P[k + 1]. The text should read:
By definition,Letting Rε = (Rw + CP[k]CT), we have
(Contributed by J. Bechhoefer, 8 Mar 09)
