Special thanks to the Open Educational Resources team at the University of Arkansas. This work was supported in part by a grant from the OER Course Materials Conversion Faculty Funding program at the University of Arkansas.

I would like to thank John Wiley and Sons, Inc. for their flexibility in returning to me my copyrights from previous editions of this text. This allowed this open textbook to exist. Thanks also to Rockwell Automation, Inc. for their flexibility in granting some problem materials and for cooperating with my requests to make this text open. I would like to thank colleagues that have used the previous editions of this work and their valuable feedback. I would also like to thank the students in my classes who tested version of my work and provided feedback, suggestions, and comments.

Lastly, I would like to thank my children Joseph, and Maria, who gave me their support and understanding and my wife, Amy, who not only gave me support, but also helped with creating figures, diagrams, and with proof-reading. Thanks so much!