Errata on the first edition:
We tried to catch all typos before final printing however, below are those that have slipped through, some more serious than others (that does make us rather unhappy). We thank the following individuals for sending us typos and errors:
Dan Zelazo, Airlie Chapman, Marzieh Nabi, He Kong. We are working on the second edition of the book so do send us your comments/suggestions/errors if you see any.
Chapter 1
Chapter 2page 18: "if i=1 or j=1" should be "if either i or j vary over a set of cardinality one. Note that a star graph is bipartite."
page 19: definition of subgraph: the role of G and G' should be reversed.
page 20: "Similarly, boundaries and closures ..." should be "Similarly, boundaries ..."
page 21: second line after Fig. 2.8: "E' \subseteq E' " should be "E' \subseteq E"
page 28, Definition 2.11: "directed cycles" should be "cycles"
page 39, Exercise 2.3: Alkanes do not have carbon cycles
Chapter 3 page 49: missing "" before the matrix in the expression for \dot{x}
page 51: Def. 3.7: "directed cycle" should be "cycle"
page 52: expression for alpha_1 is missing a factor of (1)^n
page 64, equation (3.21): missing minus sign before L
page 68, exercise 3.2: it is nicer to add use 1/2 instead of 1/2
Chapter 4 problem 4.4: z(0) and z(t) should be \theta_i(0) and \theta_i(t) and the closed interval [pi/2,pi/2] should be the open interval (pi/2,pi/2) Chapter 5 page 91, lines 9 and 11: "n" should be "n choose 2"
Chapter 6 page 135: equation in the middle of the page: "i > 2" should be "i >= 2"
Chapter 8 page 214: R in equation (8.51) should be replaced by V
 page 218: k_i should be K_i in the last equation; z_i is z_i(k)
 page 219: I(kk) should be I(kk1) in the first boxed equation; also V_i should be V_i^{1} in the equation for {\cal I}(kk); Fig. 8.8 should be consistent with the two boxed equations
Chapter 9 page 230: bullet: "they both" should be "neighboring nodes"
 page 230: equation in the middle of the page: "+" should be "or"
 page 233, line 2: "minimum" should be "maximum"
 page 233, line 4: $S_j = {\bar h}_q(S)$ should be $S_j = {\bar h}^j_q(S)$
 page 234: (9.15), there is no (delta+epsilon)/epsilon for the zterm in the Lyapunov function
 page 246, last equation on the page: "L(G)" should be "L(G)"
Chapter 10 page 318, exercise 11.9: this problem can be solved by letting the social objective be the sum of the individual objectives (not couting edge contributions twice) or consider the cycle be a Nash equilibrium instead.
Appendix page 373, line 7: "not" should be "a zero"
