Dr Michael Negnevitsky is a Professor in Electrical Engineering and Computer Science at the University of Tasmania, Australia. The book has developed from lectures to undergraduates. Its material has also been extensively tested through short courses introduced at Otto-von-Guericke-University Magdeburg, Institute Elektroantriebstechnik, Magdeburg, Germany, Hiroshima University, Japan and Boston University and Rochester Institute of Technology, USA.