This is an excellent book. Very well laid out, with text that both supports step by step learning and makes the relevant firm mathematical conclusions. The summaries, both within the text and mainly at the chapter endings, are highlighted for easy reference. The important derivations are clearly laid out and explained, often alongside a worked example. There are numerous worked examples and exercises. All the answers to the exercises are given at the end of the book, together with answers to the more informal question set to improve the student's less formal understanding.