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Advanced Control Theory: A Relay Feedback Approach is primarily designed to serve as a textbook for specialized or elective courses in Control Systems Engineering offered by electrical, mechanical, chemical, process, and instrumentation engineering departments. The book can also be used as a supplementary text for Control Systems Engineering courses of B.Tech/B.E. programmes. Also, the book will prove useful to those involved in designing or tuning industrial controllers of process industries. The book aims to bring students abreast with applications of new developments in the field of process identification and automatic tuning of controllers. Pedagogical features such as high-quality illustrations, solved problems, exercises, and end-of-chapter summaries serve to make it a complete and comprehensive textbook.