Feedback and Sensitivity Feedforward, Multiloop, and MIMO Systems Frequency Response Methods Shaping the Loop Frequency Response Compensator Design Analog Controller Implementation Linear Links and System Simulation Introduction to Alternative Methods of Controller Design Adaptive Systems Provision of Global Stability Describing Functions Process Instability Multiwindow Controllers Appendix 1: Feedback Control, Elementary Treatment Appendix 2: Frequency Responses Appendix 3: Causal Systems, Passive Systems, and Positive Real Functions Appendix 4: Derivation of Bode Integrals Appendix 5: Program for Phase Calculation Appendix 6: Generic Single-Loop Feedback System Appendix 7: Effect of Feedback on Mobility Appendix 8: Dependence of a Function on a Parameter Appendix 9: Balanced Bridge Feedback Appendix 10: Phase-Gain Relation for Describing Functions Appendix 11: Discussions Appendix 12: Design Sequence Appendix 13: Examples Bibliography Notation Index