I could not see the quick option in xtable to add text to the bottom of the table (this does not mean that it is not), so I used the idea from here and the link in your question. This is a rather crude correction with a big drawback that you need to specify the width of the added text (equal to the width of the table). If you make it too long, it will stretch the last column (to see the change from 8.5 to 10).
\documentclass{article} \usepackage{array} \newcolumntype{L}[1]{>{\raggedright\arraybackslash}m{#1}} \begin{document} \SweaveOpts{concordance=TRUE} <<yoman,echo=FALSE,results=tex>>= library(xtable) mod <- lm(mpg ~ wt, data=mtcars) #my linear model print(xtable(mod, caption = "Estimates of linear model for father Muro CB ", #label = "tab:one", digits = c(0,2, 2, 2,3)), table.placement = "h!", caption.placement = "top", add.to.row = list(list(2), "\\hline \\multicolumn{5}{L{8.5cm}}{\\textbf{Note: } This is a description, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah} \\\\")) @ \end{document}

I suppose there are many alternatives in latex, but you can start.
From comments: I tried to output it in html and did not work. Any thoughts?
You can modify the multicolumn latex command in the add.to.row print.table argument to use the html table functions instead. (using the html output of Rmarkdown)
```{r,echo=FALSE, results='asis'} library(xtable) mod <- lm(mpg ~ wt, data=mtcars) #my linear model print(xtable(mod, caption = "Estimates of linear model for father Muro CB ", digits = c(0,2, 2, 2,3)), type="html", caption.placement = "top", add.to.row = list(list(2), '<tr><td colspan="5"><b>Note: </b> This is a description, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah, blah</td></tr>')) ```