This volume is now more than a decade old, and much has transpired since then. The MATLAB tools have evolved from scripts, to Apps and at present to Live code. The Live package is preferred because it combines text and equations with MATLAB code all in a single site. The results of that code, formerly shown separately, also appear in line and in this way the user can vary the parameters of the specific problem and explore immediately how the solutions vary in response. For this reason, the Live scheme is used exclusively in this edition.