Download the Book PDF and Exercise Support Files

We like to keep track of who is downloading the material for the purposes of quantifying and understanding interest in the book. Before downloading, if you could complete at least your name, affiliation and industry this would be a great help.  If you also add in your email, we can confirm that we will only contact you on matters relating to this book. If you really don’t want to leave any trace of being here, then the the link to the downloads can be found at the bottom of this page.

Updated: 25 January 2023 – Version Number 1.22.0319

Download the Book PDF

The Book PDF is in full colour, and is fully hyperlinked internally, to pages on this website, and to external URLs. If you only wish to explore the book, and do not need the support files at this time, this is the download for you.

Click here to download the book PDF – ZIP FORMAT (83MB)

Download the Book and Support Files

The Book and Support Files folder contains a PDF copy of the book, and all of the Simulink models, MATLAB scripts and data files that you require to work through the examples. The uncompressed file is around 3.4GB in size, so if you are working in a classroom environment, it might be worthwhile only downloading it once and passing it around on a USB drive! The download also contains a copy of our license to use information.

Click here to download the book and support files – ZIP FORMAT (1.3GB)


If you are running the latest version of MATLAB and Simulink, you might need to open and resave our Simulink library (to upgrade it to the latest file format). Find it here: