Textbook in PDF format

This is an introductory text written from the perspective of a student. The major concern is not how much material we cover, but rather, how to present the most important and basic concepts that one should grasp in a first course. The presentation of material is not intended for someone to just jump right in the middle of the text. When you read the chapters, it is very important that you have MATLAB with its Control Toolbox to experiment and test the examples firsthand.
Mathematical Preliminaries
A simple differential equation model
Laplace transform
Laplace transforms common to control problems
Initial and final value theorems
Partial fraction expansion
Transfer function, pole, and zero
Summary of pole characteristics
Two transient model examples
Linearization of nonlinear equations
Block diagram reduction
Dynamic Response
First order differential equation models
Second order differential equation models
Processes with dead time
Higher order processes and approximations
Effect of zeros in time response
State Space Representation
State space models
Relation with transfer function models
Properties of state space models
Analysis of PID Control Systems
PID controllers
Closed-loop transfer functions
Design and Tuning of Single-Loop Control Systems
Stability of Closed-loop Systems
Frequency Response Analysis
Design of State Space Systems
Multiloop Systems
Cascade Control
Feedforward Control
Feedforward-feedback Control
Ratio Control
Time delay compensation—the Smith predictor
Multiple-input Multiple-output control
Decoupling of interacting systems
MATLAB Tutorial Sessions
Important basic functions
Partial fraction and transfer functions
Time response simulation
State space functions
Feedback simulation functions
Root locus functions
Frequency response functions
Homework Problems