This book is an introduction to modeling and control for students in electrical and mechanical engineering. It begins by explaining the need for control in the form of a description of how an airplane flies using several figures to illustrate the specifics. It then moves on to a review of Laplace transform theory and the solution of differential equations using it. Later chapters explore concepts in modeling such as a review of Newtons laws, torque and moment of inertia, two gear systems, and more. The book closes with chapters on the notion of statespace models and their stability, designing trajectory tracking controllers, and state and parameter estimation.