This text is designed for the undergraduate students of electrical, mechanical, or chemical engineering for a course in CONTROL SYSTEMS. It is a comprehensive treatment of the analysis and design of continuous-time control systems. The basic concepts involved are emphasized and all the material has been organized towards a gradual development of control theory. Throughout the book, computational problems are solved with MATLAB. The text features an abundance of examples and solved problems that help the student gain a basic understanding of system behaviour and control.