John Guttag was a coauthor of an earlier version of this book. Many chapters still bear his stamp. In addition, he has made numerous helpful suggestions about the current material.

Thousands of students have used various drafts of the book, and many of them have contributed useful comments. Scores of graduate students have been teaching assistants in courses based on the material in this book. Many students have contributed to examples and exercises that have found their way into this text. I sincerely thank all of them for their contributions.

My colleagues both at MIT and elsewhere have also contributed in important ways. Special thanks are due to Jeannette Wing and Daniel Jackson. Jeannette Wing (CMU) helped to develop the ...

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