Можно, например, так:
\usepackage[dvips]{graphicx}
\usepackage{color}
\def\tc{\textcolor}
\def\red{\tc{red}}
\def\red{\tc{blue}}
\def\red{\tc{green}}
\begin{document}
\tableofcontents
\section{\red{Introduction}}
\section{\blue{Nonlinear...}}
\section{\green{Numerical...}}
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