Over the past few years there has been an increasing realisation that most physical systems are nonlinear whilst most of the current literature tends to focus on linear systems. Thoroughly class-tested, this book focuses on the modelling and analysis of nonlinear dynamical systems with emphasis on electrical and mechanical systems. The students are first introduced to the methods and techniques for translating a physical problem into mathematical language by formulating differential equations. Solutions of differential equations, both by analytical as well as numerical methods then follow, along with the method of bond graphs. As well as drawing from the methods used in the study of nonlinear dynamics, this text also illustrates the application of these methods in the context of engineering systems. This book also covers discrete-time dynamical systems and methods of analyzing discrete dynamics. Each chapter contains numerous solved examples, a summary, and a set of problems.