Title: motivates study of controls before presenting techniques
Review: I had been looking for an introductory textbook that motivates the study of controls before presenting the analysis and design techniques, and presents a range of topics besides classical continuous-time, frequency domain control. This book is it! It has material on digital, multivariable, and nonlinear control, which can be used beyond the first controls course - a consideration given the price of textbooks. The didactic discussions of concepts complement the explanation of techniques. The math is kept simple and introduced as needed.
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