p. 150. Bottom box p. 168. Next to bottom line. p. 188. Bottom box p. 189. Top Box p. 201. Paragraph below Subject (c=36). 7.5. Matrix Form….: p.202. in vector, terms do not have leading subscript. Should be: u   “1”
p. 150. Bottom box p. 168. Next to bottom line. p. 188. Bottom box p. 189. Top Box p. 201. Paragraph below 7.5. Matrix Form….: Subject (c=36). p.202. in u vector,  terms do not have leading “1” subscript. Should be: 
notes_errata.docx