The book is designed for advanced undergraduate or graduate students in applied mathematics, as well as for Ph.D. students and researchers in physics, biology, engineering, and economics who use dynamical systems as model tools in their studies. A moderate mathematical background is assumed, and, whenever possible, only elementary mathematical tools are used. This new edition preserves the structure of the previous editions, while updating the context to incorporate recent theoretical and software developments and modern techniques for bifurcation analysis. From reviews of earlier editions: "I know of no other book that so clearly explains the basic phenomena of bifurcation theory." - "The book is a fine addition to the dynamical systems literature. It is good to see, in our modern rush to quick publication, that we, as a mathematical community, still have time to bring together, and in such a readable and considered form, the important results on our subject." - "It is both a toolkit and a primer" -