10.1 Output Pole Placement10.2 Two Degrees of Freedom Controllers10.3 Internal Stability10.4 Design Example: 2 DOF Control of Aircraft Pitch10.5 Design Example: Satellite with Solar Panels (Collocated Case)Appendix: Output Pole PlacementAppendix: Multinomial ExpansionsAppendix: OvershootAppendix: Unstable Pole‐Zero CancellationAppendix: UndershootProblemsNotes