This edition is a revised and expanded version of the first edition, which was published in 1996. It is aimed at graduate students and practicing engineers who have a basic knowledge of classical control design and state-space control theory for linear systems. A basic knowledge of matrix theory and linear algebra is required to appreciate and digest the material offered. There are 13 chapters which cover such topics as linear systems, uncertainty modeling, controller design, model reduction, linear matrix inequalities, and applied control design for three case studies. The book proves a well-balanced, effective, and efficient treatment of robust multivariable control.