This monograph, which grew out of a series of lectures delivered by Stephen Wiggins at the Fields Institute in early 1993, is concerned with the geometrical viewpoint of the global dynamics of nonlinear dynamical systems. With appropriate examples and concise explanations, Wiggins unites many different topics into one volume and makes a unique contribution to the field. Engineers, physicists, chemists, and mathematicians who work on issues related to the global dynamics of nonlinear dynamical systems will find these lectures very useful.