This book builds on the basics learned in PID Controllers but augments it through use of advanced control technuques. Design of PID controllers are brought into the mainstream of control system design by focusing on requirements that capture effects of load disturbances, measurement noise, robustness to process variations and maintaining set points. In this way it os possible to make a smooth transition from PID control to more advanced model-based controllers. The book provides a solid foundation for understanding, operating and implementing the more advanced features of PID controllers. Modeling methods, implementation details, and problem-solving techniques are also presented.