text: I do not recomend this book because the author gives poor explanations. In chapter 5, he explains steady state error for unity feed back HORRIBLY. He says the value of c(t) must be infinite or nonzero, but doesnt bother to show why. This book needs more work making concepts clearer and making less assumptions. 
  
  Its not all bad, but its not 5 stars everyone else has given it. I have read good textbooks, this isnt one of them.
  