An introduction to analysis techniques used in the design of linear feedback control systems with an emphasis on both classical and matrix methods. After introducing general state space and input-output systems, the book--which presumes no background beyond dynamics and differential equations--presents all design methods in a building-block sequence, including a thorough analysis of first- and second-order systems as well as general state space systems. In addition to classical topics such as Root Locus, Bode design methods and Nyquist stability, it examines eigenvalue placement and observer design techniques for linear systems, systems with uncertain inputs and/or parameters, analogue computer implementation, and redesign for digital implementations.