Errata

• Chapter 12
• page 425 Eq 12.13: at the end of the penultimate line of the equation, it should read “for t=T-1”.

• Chapter 15
• page 507 Figure 15.4: for $$\mathbf{\it{K}}_{RW1}$$, last number of the matrix should be $$1$$ instead of $$-1$$.

Thanks to Floriane for reporting the errors to us. Please email us (at ) for any error that you have found.