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 math, otherwise the sum could include inputs that are beyond the current time math. Hence the displayed equation on lines 5-8 should read


(Contributed by E. Tuna, 5 Apr 08)