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This monograph provides a concise overview of nonlinear internal wave theory. It serves as a self-contained reference for both students of mathematics as well as scientific professionals by presenting the material in two parts, isolating the narrative analysis from the mathematical detail. This unique format allows the text to remain accessible to oceanographers and researchers outside of mathematics by presenting a range of relevant theories on their own terms. Conversely, it enables applied mathematicians to understand how the conversation between mathematics and sciences proceeds in a field that has developed through a combination of the two. In addition, the text is supplemented by hands-on Matlab software, as the book incorporates a collection of working codes that enable readers to reproduce all theoretical figures in the text, with modification potential to fit a range of applications including a number of mini-projects outlined throughout the text.