From frequency domain analysis to time-domain state-space representation, this book covers many aspects of classical and modern control theory. It presents the nuts and bolts for designing a successful controller. The book shows how to model a real system by deriving equations, turning them into computer code, and interacting with the simulations in real time. The author explores the shortcomings of simple linear control of systems with limited input range and includes plenty of practical examples of everyday devices. Software simulation examples and other material are available on the book’s website www.esscont.com