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{{errata page
| chapter = Robust Performance
| page = 371
| line = -11
| contributor = F.-J. Chen
| date = 1 Mar 09
| rev = 2.10b
| version = Second printing
| text = 
In the text after equation (12.23), the generalized error is incorrectly referred to as <math>w</math>; it should be <math>z</math>.
}}

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