Copyright Notice This book was previously published by Pearson Education, Inc. Copyright (c) 1996--2009 by Prentice Hall, Inc. Previous ISBN 0-13-209172-0. The book's copyrights were transferred from Prentice Hall to Sophocles J. Orfanidis in 2009. A new version of the book, that includes corrections of all the typos, is now freely available in PDF format, and in a 2-up form. A solutions manual is