Contents Preface to the Fourth Edition Preface to the Third Edition Preface to the First Edition To the Instructor Acknowledgments 1 Introduction 1.1 Stochastic Modeling 1.1.1 Stochastic Processes 1.2 Probability Review 1.2.1 Events and Probabilities 1.2.2 Random Variables 1.2.3 Moments and Expected Values 1.2.4 Joint Distribution Functions 1.2.5 Sums and Convolutions 1.2.6 Change of Variable xi xiii xv xvii xix 1 1 4 4 4 5 7 8 10 10