Richard Brown 
Modern Introduction to Dynamical Systems [PDF ebook] 

This text is a high-level introduction to the modern theory of dynamical systems; an analysis-based, pure mathematics course textbook in the basic tools, techniques, theory and development of both the abstract and the practical notions of mathematical modelling, using both discrete and continuous concepts and examples comprising what may be called the modern theory of dynamics. Prerequisite knowledge is restricted to calculus, linear algebra and basic differential equations, and all higher-level analysis, geometry and algebra is introduced as needed within the text. Following this text from start to finish will provide the careful reader with the tools, vocabulary and conceptual foundation necessary to continue in further self-study and begin to explore current areas of active research in dynamical systems.