This book acquaints engineers with the basic concepts and terminology of modern global differential geometry. It introduces the Lie theory of differential equations and examines the role of Grassmannians in control systems analysis. Additional topics include the fundamental notions of manifolds, tangent spaces, and vector fields. 1990 edition.

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Brian F. Doolin (1925–2009) was an engineer with NASA as well as Lockheed. At NASA he was a leader of the Control Theory and Applications Group.
Clyde F. Martin is Paul Whitfield Horn Professor of Mathematics at Texas Tech University.

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