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This textbook has been developed for a course given to upper-division graduates and beginning graduate students in applied mathematics, engineering and physics at the University of Colorado. It gives an introduction to the theory of dynamical systems, with emphasis on obtaining a qualitative understanding of the properties of differential dynamical systems, i.e. those evolution rules that describe smooth evolution in time. There are chapters on: Linear systems; Existence and uniqueness; Dynamical systems; Invariant manifolds; The phase plane; Chaotic dynamics; Bifurcation theory; and Hamiltonian Dynamics. There are exercises and examples throughout. |