Introduction to control systems: definition, advantages of control system, response characteristics & system configurations, control system design. Modeling in the frequency domain: Electrical network transfer functions, Translational Mechanical system transfer functions, Rotational mechanical system transfer functions, and transfer functions for systems with gears. Modeling in the time domain: State-space representation, Converting a transfer function to state space, converting from state space to a transfer function. Time response: Poles, zeros and system response: first order system, second order systems, The general second order system, System response with additional poles, system response with zeros. Reduction of multiple subsystems: Analysis and design of feedback systems, signal flow graph, Mason’s rule and signal flow graph to state equations. Stability: Routh-Hurwitz criterion. Root locus techniques: Defining root locus, properties of root locus, sketching of root locus, Transient response design via gain adjustment. Design via root locus: Improving steady state error via cascade compensation, Improving transient response via Cascade compensation, improving steady-state error and transient response. Frequency response technique: The concept of frequency response, Bode plots, Stability, gain margin and phase margin via Bode plots, Relation between closed-loop transient and closed loop frequency response, relation between closed and open loop frequency response. Design via state space: Controller design, controllability, observer design, observability.