This comprehensive treatment of the analysis and design of continuous-time control systems provides a gradual development of control theory ? and shows how to solve all computational problems with MATLAB. It avoids highly mathematical arguments, and features an abundance of examples and worked problems throughout. FEATURES- 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. Presents an example of a design of a nonlinear model- reference control system. First formulates conditions for Liapunov stability; then designs the system within these limitations. NEW TO THIS EDITION- NEW?Reorganizes content to cover all basic materials of control systems in the first 10 chapters, leaving advanced topics (such as state-space analysis and design of control systems) to the last 3. NEW?Gives detailed explanations of how to write MATLAB programs to solve a variety of problems in control engineering. Includes MATLAB approaches to- Obtain step response, ramp response, and impulse response of control systems. Plotting root loci, Bode diagrams, and Nyquist diagrams. Solving (both analytically and computationally) pole-placement problems, observer design problems, and quadratic optimal control problems. NEW?Expands coverage of the design aspects of control engineering ? with many new design problems. NEW?Adds an introduction to robust control (Ch.10). NEW?Adds many new computational problems ? all solved with MATLAB.