This textbook is designed for an undergraduate course in control system for the engineering students in the Indian universities. It is very suitable for self-study. It will also help the practical engineers to enhance their knowledge on this subject. The authors have made sincere attempts to explain the basic principle of control system, and provide detailed explanation including stepwise methods to make it easy for students to understand and cope with the complicated derivations. Most of the examples are given to clearly understand the theoretical topic. Step wise methods are incorporated to sketch the complicated graphs, plots and diagrams.