This text presents proven techniques that allow the reader to design and implement control systems using MATLAB, without having to master advanced mathematics. Topics covered include PID control, linear time-invariant plant models, root locus design, Bode diagrams, pole placement, and the implementation of discrete-time floating-point and fixed-point controllers in C and C++. MATLAB and the Control System Toolbox are used throughout the book to solve numerous application examples. Simulink and the System Identification Toolbox are also briefly introduced. In addition, Simscape Multibody is used to model an inverted pendulum on a cart example.