(eng): This monograph provides both an introduction to and a thorough exposition of the theory of rate-independent systems, which the authors have worked on with a number of collaborators over many years. The focus is mostly on fully rate-independent systems, first on an abstract level with or without a linear structure, discussing various concepts of solutions with full mathematical rigor. The usefulness of the abstract concepts is then demonstrated on the level of various applications primarily in continuum mechanics of solids, including suitable approximation strategies with guaranteed numerical stability and convergence. Particular applications concern inelastic processes such as plasticity, damage, phase transformations, or adhesive-type contacts both at small strains and at finite strains. Other physical systems such as magnetic or ferroelectric materials, and couplings to rate-dependent thermodynamic models are also considered. Selected applications are accompanied by numerical simulations illustrating both the models and the efficiency of computational algorithms.