Errata: References to first and second equations are switched in computer implementation discussion

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Location: page 224, line -7 to -5

The references to the first and second equations are switched. The text should read

The second equation consists only of additions and multiplications and can thus be implemented directly on a computer. The first equation can be implemented by approximating the derivative by a difference...

(Contributed by E. Tuna, 13 Feb 08)