The text is written from the engineer's point of view to explain the basic concepts involved in feedback control theory. The material in the text has been organized for gradual and sequential development of control theory starting with a statement of the task of a control engineer at the very outset. The book is tended for an introductory undergraduate course in control systems for engineering students. This text presents a comprehensive analysis and design of continuous-time control systems and includes more than introductory material for discrete systems with adequate guidelines to extend.