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It ``started as lecture notes for a course in feedback control offered to engineering and mathematics students at the University of Waterloo''.NEWLINENEWLINENEWLINEThe following topics are dealt with: Basics of systems theory (state-space concepts, frequency domain concepts, connections between these two areas, design aspects), stability (one introduces expressions in the frequency domain leading to the Nyquist criterion, the root locus, robust stability), loopshaping (important design considerations are presented like the PID controller, performance-robustness trade-offs, design constraints), the LQR design method including observations, the parametrization of stabilizing controllers and the criterion via coprime factorization, generalized plants (with measured output, uncontrolled input, controlled input and output) and stabilization criterion in terms of linear fractional transformations, \\(H_\\infty\\) control and finally model matching.NEWLINENEWLINENEWLINEThe appendices provide functional analytic and algebraic basics. 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