This book presents a coherent framework for understanding the dynamics
of piecewise-smooth and hybrid systems. An informal introduction
motivates the ubiquity of such models via examples from mechanics,
electronics, control theory and physiology. The key concept is that of
discontinuity-induced bifurcation, which generalizes diverse phenomena
such as grazing, border-collision, sliding, chattering and the
period-adding route to chaos. The results are presented in an informal
style, illustrated via many examples, both theoretical and experimental.
The book is aimed at a wide audience of applied mathematicians,
engineers and scientists at the beginning postgraduate level. Almost no
mathematical background is assumed other than basic calculus and
algebra.