Introduction to Differential Geometry

This textbook is suitable for a one semester lecture course on differential geometry for students of mathematics or STEM disciplines with a working knowledge of analysis, linear algebra, complex analysis, and point set topology. The book treats the subject both from an extrinsic and an intrinsic view point.

The first chapters give a historical overview of the field and contain an introduction to basic concepts such as manifolds and smooth maps, vector fields and flows, and Lie groups, lead...