Digital Control System Design

This book did an excellent job of putting into easily readable language what might be rather difficult to study otherwise. I enjoyed it's coverage on Luenberger Observers, simple digital control system analysis, and Optimal control. The problems weren't so complex that the basic educational goals were lost. After getting through 80% of the book in a classroom setting, I felt that I could continue on with the rest of the material (Kalman Observers, etc.) via self-study.