Download Control Engineering: An introduction with the use of Matlab by Derek P. Atherton. The book covers the fundamental aspects of linear single loop feedback control theory. Explanations of the mathematical ideas employed in classical control such as root loci, frequency response and stability methods are explained by creating use of MATLAB plots however omitting the elaborate mathematics found in several textbooks. there's a chapter on pid control and 2 chapters give brief coverage of state variable methods. Download the pdf from below to explore all topics and start learning.