An integral part of engineering design is the development of models that describe physical behavior or phenomena in mathematical terms. As engineering systems have become more complex, classic linear methods of modeling and analysis have proved inadequate, creating a need for nonlinear models to solve design problems. This text provides an introduction to mathematical modeling of linear and nonlinear systems, with an emphasis on the solution of nonlinear design problems. While encouraging the use of the computer as a tool for modeling and analysis, the aim is to discuss the basic concepts...