Nonlinear Dynamics and Chaos: Geometrical Methods for Engineers and Scientists

The book is complex enough to provide good information on NLD, chaos, and the associated differential equations, but not so complex you can't get a firm working grasp of the subject. Lots of nice illustrations, clearly and concisely explained. Bifurcations, attractors and all that jazz is in there too if you want to make your own Poincare maps (also explained). I used the information from the book to generate visualizations of an externally excited system moving in and out of different modes of vibration. Such a techinique is not directly explaned in the text, but a good read of the first few chapters will provide the tools to do so. Recommended.