This comprehensive book will introduce advanced students with only a basic background in control theory to an array of techniques they can easily implement and use to meet the required performance specifications for their mechatronic applications. Most of the design approaches presented in the book are coded in MATLAB(R), compiled by the authors together in a GUI (Graphical User Interface) under the name COMES (Control of Mechatronic Systems toolbox), available in the user contributed material part of the Mathworks MATLAB(R) website for free download and use with this book.