In this paper we derive the dynamical model of a four-cylinder double-acting wobble-yoke Stirling engine. In addition to the classical thermodynamics methods that dominate the literature of Stirling mechanisms, we present a control systems viewpoint to analyze the dynamic properties of the engine. We show that the Stirling engine can be viewed as a closed-loop system, in which the pressure variations in the cylinders behave as the feedback control law. (C) 2014 Elsevier Ltd. All rights reserved.