This new textbook in Signals and Systems provides a pedagogically-rich approach to what can oftentimes be a mathematically 'dry' subject. Chaparro introduces both continuous and discrete time systems, then covers each separately in depth. Careful explanations of each concept are paired with a large number of step by step worked examples. With features like historical notes, highlighted 'common mistakes,' and applications in controls, communications, and signal processing, Chaparro helps students appreciate the usefulness of the techniques described in the book. Each chapter contains a section with Matlab applications.