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This article provides a tutorial on the development of a complete and systematic optimal and robust control theory for SISO systems using only preclassical tools growing out of the Routh stability test and the polynomial Diophantine equation. The presented analysis problems are the computations of signal and system energy (two-norm) and system resonance peak (∞-norm). The presented synthesis problems are optimal transient stabilization (linear quadratic Gaussian control) and suboptimal and optimal robust stabilization (H∞-control). Our experience indicates that these materials are well suited for undergraduate teaching.