Fred White 
Principles of Control Engineering [PDF ebook] 

This book provides a basic grounding in the theory of control engineering, without assuming an unrealistic level of mathematical understanding. When control engineering is first approached, no matter what the ultimate application, a certain amount of background theory must be grasped to make sense of the topic. To meet this general need the author presents the basic principles in a clear and accessible way, along with plenty of examples and assessment questions.* Offers control principles without details of instrumentation* Features worked examples, assessment questions and practical tasks* Includes introduction to control engineering software