Digital controllers are part of nearly all modern personal, industrial, and transportation sytems. Every senior or graduate student of electrical, chemical or mechanical engineering should therefore be familiar with the basic theory of digital controllers. This new text covers the fundamental principles and applications of digital control engineering, with emphasis on engineering design. Extensive Use of computational tools: Matlab sections at end of each chapter show how to implement concepts from the chapter. Frees the student from the drudgery of mu.