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This is a book about using MuPAD in teaching undergraduate mathematics and solving undergraduate mathematics problems with MuPAD. The author explains basic principles of MuPAD commands and how to write simple programs or to develop interactive environments for teaching mathematics. The text gives a large number of useful examples from undergraduate mathematics collected by the author during his long teaching experience. A web site with examples, MuPAD graphs, exercises and solutions, etc., supports the book.