Presenting fuzzy and neural control in terms that highlight their basis in classical control theory, and emphasizing the use of system control without analytic mathematical models, the authors introduce students to soft computing. The topics of control theory, classical control methods, linguistic rule-based control, fuzzy control, artificial neural networks, neural control, hybridization of fuzzy logic-based approaches, and several types of controllers are presented in chapters that include illustrative examples, exercises, and projects. The four authors, who teach at New Mexico State U. in Las Cruces, developed the approach of this text, like their earlier text on fuzzy logic, from their lecture courses.