Computer-aided control system design (CACSD) encompasses a broad range of methods, tools and technologies for system modelling, control system synthesis and tuning, dynamic system analysis and simulation, as well as validation and verification. The domain of CACSD enlarged progressively over decades from simple collections of algorithms and programs for control system analysis and synthesis, to comprehensive tool sets and user-friendly environments supporting all aspects of developing and

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... ing advanced control systems in various application fields. This article gives a brief introduction to CACSD and reviews the evolution of key concepts and technologies underlying the CACSD domain. Several cornerstone achievements in developing reliable numerical algorithms, implementing robust numerical software and developing sophisticated integrated modelling, simulation and design environments are highlighted.