This second edition has been extensively revised and clarified, and the topics have been substantially rearranged. The book now introduces the two most important analytic tools, the rank theorem and the fundamental theorem on flows, much earlier so that they can be used throughout the book. A few newtopics have been added, notably Sard's theorem and transversality, a proof that infinitesimal Lie group actions generate global group actions, a more thorough study of first-order partial differential equations, a brief treatment of degree theory for smooth maps between compact manifolds, and an introduction to contact structures.
Prerequisites include a solid acquaintance with general topology, the fundamental group, and covering spaces, as well as basic undergraduate linear algebra and real analysis.
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"It starts off with five chapters covering basics on smooth manifolds up to submersions, immersions, embeddings, and of course submanifolds. ... the book under review is laden with excellent exercises that significantly further the reader's understanding of the material, and Lee takes great pains to motivate everything well all the way through ... . a fine graduate-level text for differential geometers as well as people like me, fellow travelers who always wish they knew more about such a beautiful subject." (Michael Berg, MAA Reviews, October, 2012)