INTRODUCTION Feedback Control Systems Mathematical Models MODELING‎,‎ UNCERTAINTY AND FEEDBACK Finite Dimensional LTI System Models Infinite Dimensional LTI System Models Linearization of Nonlinear Methods Modeling Uncertainty Why Feedback Control‎?‎ Exercise Problems PERFORMANCE OBJECTIVES Step Response‎:‎ Transient Analysis Steady State Analysis Exercise Problems BIBO STABILITY Norms for Signals and Systems BIBO Stability Feedback System Stability Routh‎-Hurwitz Stability Test Stability Robustness‎:‎ Parametric Uncertainty Exercise Problems ROOT LOCUS Root Locus Rules Complementary Root Locus Exercise Problems FREQUENCY DOMAIN ANALYSIS TECHNIQUES Cauchy‎'‎s Theorem Nyquist Stability Test Stability Margins Stability Margins From Bode Plots Exercise Problems SYSTEMS WITH TIME DELAYS Stability of Delay Systems Pade Approximations of Delays Roots of a Quasi‎-Polynomial Delay Margin Exercise Problems LEAD‎,‎ LAG AND PID CONTROLLER DESIGN Lead Controller Design Lag Controller Design Lead‎-Lag Controller Design PID Controller Design Exercise Problems PRINCIPLES OF LOOPSHAPING Tracking and Noise Reduction Problems Bode‎'‎s Gain‎-Phase Relationship Design Example Exercise Problems ROBUST STABILITY AND PERFORMANCE Modeling Issues Revisited Stability Robustness Robust Performance Controller Design for Stable Plants Design of H* Controllers Exercise Problems BASIC STATE SPACE METHODS State Space Representations State Feedback State Observers Feedback Controllers Exercise Problems INDEX