Polderman W., Willems C. Introduction to the Mathematical Theory of Systems and Control

Springer, 458 p.Dynamical Systems
Systems Defined by Linear Differential Equations
Time Domain Description of Linear Systems
State Space Models
Controllability and Observability
Elimination of Latent Variables and State Space Representations
Stability Theory
Time- and Frequency-Domain Characteristics of Linear Time-Invariant Systems
Pole Placement by State Feedback
Observers and Dynamic Compensators
Simulation Exercises
Background Material