Using clear tutorial examples, this fullyupdated new edition concentrates on explaining and illustrating the concepts that are at the heart of control theory. It seeks to develop a robust understanding of the underlying principles around which the control subject is built. This simple framework is studded with references to more detailed treatments and with interludes that are intended to inform and entertain. The book is intended as a companion on the journey through control theory and although the early chapters concentrate on fundamental ideas such as feedback and stability, later chapters deal with more advanced topics such as state variables, optimisation, estimation, Kalman filtering and robust control. This would would appeal to undergraduates in a variety of disciplines seeking to learn the basics of control and is also relevant to economists, scientists, engineers (academic or industrial) and electrical and control engineers.