The book is mainly written for budding marine engineers, who would like to have an overview of automatic control, its historical background and its underlying theories. The book is also aimed at engineers, who would like to revise the essential mathematics for going through an undergraduate course on shipboard control systems, particularly based on classical control theories. Finally, the book is also for anyone interested in understanding the various classifications and terminologies used in marine/industrial control applications. This book is an attempt to combine story-telling (historical perspectives), acknowledge the pioneers and provide confidence to those who are not so brave to deal with mathematical concepts and would rather have computer software (Scilab and XCOS) to do the hard work for them.