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Digital controllers are part of nearly all modern personal, industrial, and transportation systems. 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. MATLAB sections at the end of each chapter show how to implement concepts, freeing the student from the drudgery of mundane calculations and allowing them to consider more subtle aspects of control system analysis and design. Emphasis throughout the book is on the design of control systems with an engineering approach to digital controls. Mathematics is used to help explain concepts, but throughout the text discussion is tied to design and implementation. For example, coverage of analog controls in Chapter 5 is not simply a review, but is used to show how analog control systems map to digital control systems.