This book introduces new methods for tuning two dynamical classes of windupless pole assignment controllers. Increased reliability of the windupless controller tuning is derived from the fact that they try to take account of the natural distribution of dynamical terms within the control loop. In addition, they follow inevitable constraints imposed on the control signal. The developed controllers, presented here as minimum time pole assignment controllers, are primarily derived for the single and double integrator plant models. Considering models based on the 1st or 2nd order system the controller design guarantees a double or a tripple real dominant closed loop pole. The poles of the controller are adapted according to delays present in the control loop. The controller designs enable to consider the influence of elementary parasitic time delays (transport delay - dead time or accumulative delay - time constant) on controller setting. Since the controller structure remains fixed, i.e. it doesn't change its form and order due to the identified time delays, the controllers can be associated with the well-known group of parameter-optimized controllers.