List of corrections included in the second printing of the book
(page numbers refer to the second printing):

p12: changed "fourth" to "quarter"
p33: in Eq 2.54, changed "k=0" to "k=1" in the sums
p48: removed footnote 6
p80: after "However, it follows that...", added a missing index i in $U(\pi)$
p84: removed "and in the worst case require exponential time by a deterministic Turing machine"
p203 (previously p202): in Eq 8.30 and 8.31, changed "u(h^...)" to "u^..." and removed ":T"
p233: in Eq 9.10, in y_i, changed "t" to "t+1" for h and z
p285: Figure 9.25a, in the shown tree, changed "InitialiseNode" to "InitializeNode"
p294: Figure 9.28, in the caption, removed "blue bars" (should not refer to color for b/w print)
p323: removed footnote 3

On page 198, some equations that were previously missing have been added. The added text starts 
after Eq 8.8 until "As we can see". The new equations on page 198 are not numbered, so that the 
equations on the following pages have consistent numbering with the first printing of the book.