Thanks to all those who pointed out the following changes.
1. Page 33, line just before (2.19): j = 1,...,p should be k = 1,...,p
2. Page 58: Delete "be" at end of first line of Proposition 4.3.
3. Page 149: Delete "the" on line 7.
4. Page 191, 3rd line of Section 10.1.1: Delete "for".
5. Page 198, line 6: Change x to z twice in the conditional independence statement.
6. Page 219, line 20: There is an extra right parenthesis in the subscripts on this line.
7. Page 229, line 4 and 5 from the bottom: An expression is split between these two lines.
8. Page 230, line 5 from the bottom: "Proposition 12.3" should be "Proposition 12.2"
9. Page 235, line 6: "(2.12)" should be "(12.12)"
10. Page 260, line 12: aTx should be aTx1