43 pages, 23 figures.-- PACS nrs.: 61.80.Az; 68.35.Bs; 64.60.Ht.-- ArXiv pre-print available at: http://arxiv.org/abs/cond-mat/0007354Final publisher version available Open Access at: http://gisc.uc3m.es/~cuerno/publ_list.htmlWe derive a stochastic nonlinear continuum equation to describe the morphological evolution of amorphous surfaces eroded by ion bombardment. Starting from Sigmund’s theory of sputter erosion, we calculate the coefficients appearing in the continuum equation in terms of the physical parameters characterizing the sputtering process. We analyze the morphological features predicted by the continuum theory, comparing them with the experimentally reported morphologies. We show that for short time scales, where the effect of ...