S.Skogestad and I.Postlethwaite, "Multivariable feedback control",
   Wiley 1996, 570 pages.


The book presents a rigorous, yet easily readable, introduction to
the analysis and design of multivariable feedback systems.  It provides
the reader with insights which are invaluable when designing or tuning
any control system.

The book includes more than 100 worked examples,  3 major case studies
and about 140 exercises. Many of the examples make use of MATLAB, and
sample files are included.  MATLAB files for examples and figures,
solutions to selected exercises and models for the case studies are
available on the internet.

A unique feature of the book are the two chapters on
input-output controllability analysis and one chapter on control
structure design.

The prerequisites for reading this book are an introductory course in
classical single-input single-output (SISO) control and some elementary
knowledge of matrices and linear algebra.

Parts of the book can be studied alone, and provide an appropriate
background for a number of linear control courses at both undergraduate
and graduate levels: classical loop-shaping control, an introduction to
multivariable control, advanced multivariable control, robust control,
controller design, control structure design and controllability analysis.