This book presents a comprehensive treatment of the analysis and design of discrete-time control systems. It is written as a textbook for courses on discrete-time control systems or digital control systems for senior and first-year graduate level engineering students. The theoretical background materials for designing control systems are discussed in detail. Once the theoretical aspects are understood, the reader can use MATLAB with advantage to obtain numerical solutions that involve various types of vector-matrix operations. The new edition of this comprehensive digital controls book integrates MATLAB throughout the book. The book has also increased inflexibility and reader friendliness through the streamlining of coverage in Chapters 6 & 7 (controllability, pole placement and observability, and optimal control).