Emphasizes the basic concepts and the design aspects of control systems. Avoids highly mathematical arguments but provides mathematical proofs whenever they contribute to an understanding of the material. Includes examples at strategic points throughout (over 100 total). Contains numerous worked problems (A-problems) at the end of each chapter (over 200 total), and 200 unsolved problem (B-problems). Provides introductory discussion on the two-degrees-of-freedom control system, and introduces design conditions on robust control.