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The usual objective of control theory is to control a system, often called the ''[[Plant (control theory)|plant]]'', so its output follows a desired control signal, called the ''[[reference]]'', which may be a fixed or changing value. To do this a ''[[Controller (control theory)|controller]]'' is designed, which monitors the output and compares it with the reference. The difference between actual and desired output, called the ''error'' signal, is applied as [[feedback]] to the input of the system, to bring the actual output closer to the reference.
Classical control theory deals with [[linear time-invariant system|linear time-invariant]]
==Feedback==
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