Control is a subject that heavily relies on mathematics and physics. High level theoretical treatments are more easily understood and digested when accompanied by concrete examples. In this study, two important phenomena, namely linearization and integration are chosen as two cases that are important in industrial processes. Examples of teaching approaches are demonstrated around these two cases. Some simple examples are chosen, for easy demonstration, without the loss of generality. The approaches are believed to be effective in teaching engineering students and especially engineers working in industry. Copyright (C) 2000 IFAC.