Despite the fact that the world is inherently nonlinear, many undergraduate students are never explicitly exposed to the concepts of nonlinear dynamics. This book provides an introduction to the field, illustrating the basic concepts by means of a readily accessible electronic system -- Chua's circuit. Each idea is illustrated using mathematics, computer simulation, and laboratory experiments. The book also describes two novel concepts in nonlinear dynamics: chaos control and chaos synchronization, as well as several applications which exploit complex dynamics.