Introduction to Ambisonics

These are a preliminary version of some lecture notes on Ambisonics, prepared for the course “Àudio 3D” at the Escola Superior Politècnica of Universitat Pompeu Fabra. Many elements are missing or can be improved, such as a more complete list of references, expanded details on practical applications, a more comprehensive treatment of higher-order Ambisonics.. Additionally, it may contain errors. Use at your own risk!