A. Ramachandro. Rao 
Process Control Engineering [PDF ebook] 

Process Control Engineering is a textbook for chemical, mechanical and electrical engineering students, providing the theoretic fundamentals of control systems, and highlighting modern control theory and practical aspects of industrial processes. The introductory nature of the text should appeal to undergraduate students, while later chapters on linear systems, optimal control, adaptive control and intelligent control are directed toward advanced students and practising engineers. The textbook has been extensively tested in both undergraduate and graduate courses at the University of Alberta.