This excellent introduction to feedback control system design offers a theoretical approach that captures the essential issues and can be applied to a wide range of practical problems. 1992 edition.

John C. Doyle is John G. Braun Professor of Control and Dynamical Systems, Electrical Engineering, and Bioengineering at the California Institute of Technology. Bruce A. Francis is a Professor in the Department of Electrical and Computer Engineering at the University of Toronto. Allen R. Tannenbaum is Julian Hightower Professor of Bioengineering and Systems and Controls at Georgia Tech.

Preface
Introduction
Norms for Signals and Systems
Basic Concepts
Uncertainty and Robustness
Stabilization
Design Constraints
Loopshaping
Advanced Loopshaping
Model Matching
Design for Performance
Stability Margin Optimization
Design for Robust Performance
References