This book presents a framework for controller design, focusing on linear systems and the determination of performance limits. It discusses the goals of controller design, including performance specifications, robustness specifications, and control law specifications. The book emphasizes the importance of determining the limits of performance for a given system and control configuration. It also explores the use of convex optimization techniques for solving controller design problems. The book covers various aspects of control engineering, including system design, modeling, controller design, implementation, testing, and validation. It also discusses the impact of technological advances on control engineering, such as integrated and intelligent sensors, actuator technology, digital control processors, and computer-aided control system design. The book provides a detailed overview of the controller design problem, emphasizing the determination of whether or not there is any controller that provides a suitable tradeoff among the goals. It also discusses the challenges of controller design, including the use of more sensors and actuators, higher quality systems, and more powerful control processors. The book concludes with an outline of the structure of the book and a discussion of the methods described in the book.This book presents a framework for controller design, focusing on linear systems and the determination of performance limits. It discusses the goals of controller design, including performance specifications, robustness specifications, and control law specifications. The book emphasizes the importance of determining the limits of performance for a given system and control configuration. It also explores the use of convex optimization techniques for solving controller design problems. The book covers various aspects of control engineering, including system design, modeling, controller design, implementation, testing, and validation. It also discusses the impact of technological advances on control engineering, such as integrated and intelligent sensors, actuator technology, digital control processors, and computer-aided control system design. The book provides a detailed overview of the controller design problem, emphasizing the determination of whether or not there is any controller that provides a suitable tradeoff among the goals. It also discusses the challenges of controller design, including the use of more sensors and actuators, higher quality systems, and more powerful control processors. The book concludes with an outline of the structure of the book and a discussion of the methods described in the book.