What is often referred to as industrial mathematics is becoming a more important focus of applied mathematics. An increased interest in undergraduate control theory courses for mathematics students is part of this trend. This is due to the fact that control theory is both quite mathematical and very important in applications. provides a rigorous introduction to input/output, controller design for linear systems to junior/senior level engineering and mathematics students. All explanations and most examples are single-input, single-output for ease of exposition. The student is assumed to have knowledge of linear ordinary differential equations and complex variables.