This book has been written to provide students and professionals with access to relatively recent research results on robustness analysis, H-infinity optimal control, and mu-synthesis. In addition, this material is integrated with linear quadratic Gaussian optimal control results. The overall treatment is organized in a logical manner rather than along the lines of historical development. Prequisites for the book include an introduction to control systems (classic control) , probability, state-space linear systems, and a working knowledge of linear algebra. This book consists of three parts. The first part covers the analysis of control systems. It contains a review of multivariable linear systems, an introduction to vector random processes, control system performance analysis, and robustness analysis. The second part is devoted to H
2 optimal control, and the third part is devoted to H-infinity control.