Mechatronics now embraces sophisticated systems which range all the way from military drones to experiments that can be carried out in schools. At all levels it is essential to understand the control theory that makes this possible. Embedded within the e-book are simulations that let the reader experiment with control techniques at the click of a mouse. Techniques that might seem mystic, like pole assignment or root locus, become clear with a little experimentation. The simulation examples include real-world complications such as drive saturation, meaning that non-linear controllers are shown to be superior. A chapter on optimal control applies Logical Predictive Control to a tricky balancing task, one that can easily be constructed as a physical experiment.