The first and second chapters describe the essential concepts needed to describe nonlinear dynamical systems as well as their stability. The third chapter introduces the concept of bifurcation, where the qualitative dynamical behavior of a system changes. The fourth chapter deals with oscillations, from their birth to their destabilization, and how they respond to external driving. The fifth and sixth chapters discuss complex behaviors that only occur in state spaces of dimension three and higher: quasi-periodicity and chaos, from their general properties to quantitative methods of characterization. All chapters are supplemented by exercises ranging from direct applications of the notions introduced in the corresponding chapter to elaborate problems involving concepts from different chapters, as well as numerical explorations.
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