Jack K. Hale & Huseyin Kocak 
Dynamics and Bifurcations [PDF ebook] 

The subject of differential and difference equations is an old and much-honored chapter in science, one which germinated in applied fields such as celestial mechanics, nonlinear oscillations, and fluid dynamics. In recent years, due primarily to the proliferation of computers, dynamical systems has once more turned to its roots in applications with perhaps a more mature look. Many of the available books and expository narratives either require extensive mathematical preparation, or are not designed to be used as textbooks. The authors have filled this void with the present book.