University of British Columbia
Vancouver, British Columbia, Canada

This SIAM edition is an unabridged republication of the work first published by Random House, New York, NY, 1988.

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Dedication

Dedicated to my family, Aviv, Ilan, and Joshua Keshet, and in loving memory of my parents, Tikva and Michael Edelstein

Acknowledgments

I would like to express my gratitude for the helpful comments of the following reviewers: Carol Newton, University of California, Los Angeles; Robert McKelvey, University of Montana; Herbert W.Hethcote, University of Iowa; Stephen J.Merrill, Marquette University; Stavros Busenberg, Harvey Mudd College; Richard E.Plant, University of California, Davis; and Louis J.Gross, University of Tennessee. I am especially grateful to Charles M.Biles, Humboldt State University, for many detailed suggestions, continual encouragement, and for specific contributions of ideas, improvements, and...