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Linear systems theory plays a broad and fundamental role in electrical, mechanical, chemical and aerospace engineering, communications, and signal processing. A thorough introduction to systems theory with emphasis on control is presented in this self-contained textbook. The book examines the fundamental properties that govern the behavior of systems by developing their mathematical descriptions. Linear time-invariant, time-varying, continuous-time, and discrete-time systems are covered. Rigorous development of classic and contemporary topics in linear systems, as well as extensive coverage of stability and polynomial matrix/fractional representation, provide the necessary foundation for further study of systems and control.