From the reviews: I would consider this book to be must-read material for those directly involved in track-following or track-seeking controller design. The structural decomposition approach employed for linear systems provides an effective development framework for the authors' robust and perfect tracking (RPT) controller. The coverage of composite nonlinear feedback, which consistes of a linear controller in ... Read moreparallel with a nonlinear controller, is excellent, and the authors make a compelling case for its use in practice.... I found the mathematical treatment to be quite dense, and would recommend this book only to those who have had graduate courses in both linear and nonlinear control. Thankfully, all of the control approaches represented in the book have convenient Matlab implementations in the authors' downloadable toolbox. As a whole, Hard Disk Drive Servo Systems is an invaluable addition to the practicing servo engineer's library.... Perhaps the most valuable contributions are the Matlab toolbox and the benchmark problem. With these tools, the authors' claims can be tested and their results expanded upon. IEEE Control Systems Magazine June (2008) 80 - 81 (Reviewer: Mark Bedillion) Show Less