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

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

- 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 guangquan.li@northumbria.ac.uk) for any error that you have found.