Using the techniques and reusable code in this book, embedded systems developers can design control systems without the advanced calculus skills that are typically required. Mathematical derivations are avoided, making the methods accessible to developers with no background in control system engineering. Thorough simulation and testing techniques are recommended to compensate for the lack of mathematical rigor in this method, and these procedures are described here in a step-by-step format. For the more advanced algorithms, readers are shown how to apply the best available software tools for control system design: MATLAB and its toolboxes. The companion CDROM includes complete, reusable C and C++ source code and examples that can be quickly adapted to specific control problems.