When the author says infinitesimals can be used to define calculus in a perfectly rigorous way I get a bit skeptical. After reading this Wikipedia article though I see why.
http://en.m.wikipedia.org/wiki/Hyperreal_number
I still think there's a certain elegance of not needing to define a whole new set of numbers, but there's also an elegance to the intuition of infinitesimals and infinitesimals.