Preface; Control systems, Introduction, Systems, Control systems models, Measurement elements, Signal processing, Correction elements, Control systems, Problems; System models, Introduction, Gain, Dynamic systems, Differential equations, Transfer function, System transfer functions, Sensitivity, Block manipulation, Multiple inputs, Problems; System response, Introduction, Inputs, Determining outputs, First order systems, Second order systems, Problems; System parameters, Introduction, First order systems, Second order systems, Stability, Problems; Frequency response, Introduction, Phasors, Sinusoidal inputs, Bode plots, System identification, Stability, Compensation, Problems; Nyquist diagrams, Introduction, The polar plot, Stability, Relative stability, Problems; Controllers, Introduction, On-off control, PID control, Terminology, A process controller, Controller mathematics, Tuning, Digital systems, Problems; Appendix A, Differential equations; Appendix B, Laplace tranform, Answers; Index