Equilibrium is a state of a system which does not change.
If the dynamics of a system is described by a differential equation (or a system of differential equations), then equilibria can be estimated by setting a derivative (all derivatives) to zero.
An equilibrium is considered stable (for simplicity we will consider asymptotic stability only) if the system always returns to it after small disturbances. If the system moves away from the equilibrium after small disturbances, then the equilibrium is unstable.
In systems theory, a system or a process is in a steady state if the variables (called state variables) which define the behavior of the system or the process are unchanging in time.