This book is intended for successfully designing robust controllers for mechatronic systems from various disciplines. This book is intended for early-stage doctoral students who wish to get exposed to control methods that have been field-tested in a wide variety of mechatronic applications. The authors also believe that the book will be useful for practicing engineers who design and implement feedback control systems. The material in this book can be taught in a fourteen-week one-semester long course, with several project type assignments so that the graduate students can also master the application of the methods learned to practical problems.