Open-loop and closed-loop (feedback) control systems. Examples of feedback control systems. Review of complex variables and Laplace transform. Poles and element transfer function and block diagram. Modeling of physical systems: electrical, mechanical, hydraulic and pneumatic systems. Linearization of nonlinear systems. System representations: system block diagrams and signal flow graphs. Overall transfer function, block diagram reduction techniques and Mason’s gain formula. Introduction to state-space representation. Sensitivity of open loop and closed loop control systems. Time response analysis and performance indices of first and second order systems. Dominant poles of high order systems. Routh-Hurwitz stability criterion. Steady state error coefficients. Design and effects of basic control actions and their combinations: proportional, integral and derivative. Effects of velocity feedback. Stability analysis using root locus. Bode diagrams and Nyquist stability criterion. Gain and phase margins, and obtaining transfer function using Bode diagrams. Introduction to analysis and design using state-space equations.