Designed for a short course on control systems or as a review for the professional engineer, this book provides a lucid introduction to modern control systems topics. The five chapters, State-Variable Analysis of Continuous-Time Systems, Analysis of Discrete-Time Systems, Stability Analysis of Non-Linear Systems, Optimal Control, and Adaptive Control have been written to emphasize concepts and provide the basic mathematical derivations. Complete coverage of standard topics, e.g., eigenvalues, eigenvectors, the z-transform, Lyapunov s Method, controllability, observability, etc. are discussed. Numerous examples and exercises have also been included in the book for self-study. A CD-ROM with MATLAB applications and third-party simulations provides practical design techniques and observations of real control systems.