The advent of inexpensive computing allows engineers to analyze, compute, and develop results that were unthinkable in the past. This book draws from diverse areas of engineering and the physical sciences to cover the fundamentals of linear systems. Assuming no prior knowledge of complex mathematics, the author uses his nearly 40 years of experience to address all of the necessary mathematical techniques. Original proofs, hundreds of examples, and theorems that have been proven from the student's point of view illustrate and clarify the material. An extensive table provides Lyapunov functions for differential equations and conditions of stability for the equilibrium solutions.