"This book is better than other texts available on this topic because of its straightforward intuitive descriptions combined with the artfully presented, detailed, and quantitatively rendered illustrations."-- Matthew Grayson, Northeastern University"The author is eloquent and presents complex material in a logical sequence, which provides for comparatively easy reading. I find the many numerical examples (including the MatLab scripts) particularly useful from a pedagogical perspective since they invite students to become more actively engaged with the novel material and concepts. In addition, they provide visual support for some otherwise abstract mathematical relationships."--Godi Fischer, University ofRhode Island