Preface.- Chapter Outline.- Chapter 1- Origins of Discontinuity.- Chapter 2- One switch in the Plane: A Primer.- Chapter 3- The Vector Field: Multipliers & Combinations.- Chapter 4- The Flow: Types of Solution.- Chapter 5- The Vector Field Canopy.- Chapter 6- Tangencies: The Shape of the Discontinuity Surface.- Chapter 7- Layer Analysis.- Chapter 8- Linear Switching (Local Theory).- Chapter 9- Nonlinear Switching (Local Theory).- Chapter 10- Breaking Determinacy.- Chapter11- Global Bifurcations & Explosions.- Chapter 12- Asymptotics of Switching: Smoothing & Other Perturbations.- Chapter 13- Four Obsessions of the Two-Fold Singularity.- Chapter 14- Applications from Physics, Biology, and Climate.- Appendix A- Discontinuity as an Asymptotic Phenomenon - Examples.- Appendix B- A Few Words from Filippov & Others, Moscow 1960.- Exercises.- Bibliography.- Glossary. sakriti opis