The book cover has a very quick summary in the form of cartoons, but the table of contents (pp 3–4/160) has a list of what it covers, the preface (pp. 5–7/160) explains the motivations and has a little more color on what it colors, and the first chapter (pp. 9–42/160) has a really good overview of control theory including cartoons and a dialog with Ctesibios.