Albert C. J. Luo 
Regularity and Complexity in Dynamical Systems [PDF ebook] 

Regularity and Complexity in Dynamical Systems describes periodic and chaotic behaviors in dynamical systems, including continuous, discrete, impulsive, discontinuous, and switching systems. In traditional analysis, the periodic and chaotic behaviors in continuous, nonlinear dynamical systems were extensively discussed even if unsolved. In recent years, there has been an increasing amount of interest in periodic and chaotic behaviors in discontinuous dynamical systems because such dynamical systems are prevalent in engineering. Usually, the smoothening of discontinuous dynamical system is adopted in order to use the theory of continuous dynamical systems. However, such technique cannot provide suitable results in such discontinuous systems. In this book,  an alternative way is presented to discuss the periodic and chaotic behaviors in discontinuous dynamical systems.

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