[AMR] Various fixes, error propagation, more explanations

electives/amr/parts/00_basics/03_error-propagation.tex

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+\subsection{Error Propagation}
+For functions $\vec{f}(\vec{x}) = \mat{A}\vec{x}$, the \bi{linear error propagation}
+is given by $\Sigma^f = A \Sigma^x \A^\top$, with $\Sigma^x$ the uncertanty of $\vec{x}$ (covariance mat.)