As an online resource, this textbook may be updated at any time. Major revisions (new chapters/sections, videos, exercises, etc.) will be listed here. Smaller revisions (typos, clarification and wording, etc.) will not normally be listed here.
- Version 2.2: 18 August 2022, added Chapter 12
- Version 2.1: 6 July 2022, added Appendix 1
- Version 2.0: 1 March 2022, initial release of Chapters 1–11 and portions of Chapter 13