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 instead of math:


Related to this error, the summation in the previous displayed equation should be modified so that , otherwise the sum could include inputs that are beyond the current time . Hence the displayed equation on lines 5-8 should read


(Contributed by E. Tuna, 5 Apr 08)