It's convenient to listen to, and the narrator is great. However, there are occasionally figures in the book that I had to look up to visualize (e.g. period doubling). If I had the printed version, I would not have been able to finish it as quickly as reading on the subway gives me a headache. So, while the audio is not necessarily better than the print version, it's definitely complementary.
Don't need a rigorous math background to understand the concepts. The historical context from Chaos made my nonlinear dynamics textbooks much more interesting! Chaos covers fascinating examples from economics to biology. The book makes it easy to look up references and original research papers. The narrator was great as well. Highly recommended for both casual readers and those who would want to delve deeper into the concepts afterwards.
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