The text is composed of six chapters. The 1st chapter has to do with state estimation and data smoothing. It is given at the beginning of the text as it is a necessary interface between control algorithms and sensors. Chapter 2 describes a Kalman filter state estimation approach to fault detection. Chapter 3 has to do with control system design to mitigate the effects of disturbances. Chapter 4 describes ways to tune proportional integral derivative (PID) control algorithms. Chapter 5 describes several feedforward control techniques. Chapter 6 has a few applications that may be of interest to the reader.