Errata: In equation (5.5), the upper limit of the integral should be t
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Location: page 135, line 12
In equation (5.5), the upper limit on the integral should be t instead of 
:
Related to this error, the summation in the previous displayed equation should be modified so that tn < t, otherwise the sum could include inputs that are beyond the current time t. Hence the displayed equation on lines 5-8 should read
(Contributed by E. Tuna, 5 Apr 08)
