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==Tools==
Classical control theory uses an array of tools to analyze systems and design controllers for such systems. Tools include the [[root locus]], the [[Nyquist stability criterion]], the [[Bode plot]], the [[gain margin]] and [[phase margin]]. More advanced tools include Bode integrals to assess performance limitations and trade-offs, and describing functions to analyze nonlinearities in the frequency ___domain.<ref>{{cite book |author1=Boris J. Lurie |author2=Paul J. Enright |title=Classical Feedback Control with Nonlinear Multi-loop Systems |origyear= |accessdate= |edition=3 |year=2019 |publisher=CRC Press |___location=Boca Raton |language= |isbn=978-1-1385-4114-6 }}<ref>
==See also==
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