Serge Lang 
Introduction to Differentiable Manifolds [PDF ebook] 

This book gives an introduction to the basic concepts which are used in differential topology, differential geometry, and differential equations. A certain number of concepts are essential for all three of these areas, and are so basic and elementary, that it is worthwhile to collect them together so that more advanced expositions can be given without having to start from the very beginning. The concepts are concerned with the general basic theory of differential manifolds. As a result, this book can be viewed as a prerequisite to Fundamentals of Differential Geometry. Since this book is intended as a text to follow advanced calculus, manifolds are assumed finite dimensional. In the new edition of this book, the author has made numerous corrections to the text and he has added a chapter on applications of Stokes’ Theorem.