An essential core text for advanced undergraduate and graduate courses in digital control, this volume develops theoretical foundations and explains how control systems work in real industrial situations. Several case histories assist students in visualizing the theory's applications. After a careful development of theoretical foundations, the text moves into the real world with detailed reviews of five commercially available distributed control systems. Throughout, the author emphasizes robustness, realistic adaptive control, and the successful application of digital control theory to real problems. Numerous exercises are included to ensure understanding and retention of the material.