The previous edition of this text was the first to provide a quantitative introduction to chaos and nonlinear dynamics at the undergraduate level. It was widely praised for the clarity of writing and for the unique and effective way in which the authors presented the basic ideas. These same qualities characterize this revised and expanded second edition. Interest in chaotic dynamics has grown explosively in recent years. Applications to practically every scientific field have had a far-reaching impact. As in the first edition, the authors present all the main features of chaotic dynamics...