diff --git a/CMakeLists.txt b/CMakeLists.txt
index 09e9a01..94e56de 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -335,3 +335,20 @@ install(
     package.xml
   DESTINATION share/ypspur/
 )
+
+
+# Generate pkgconfig file and install
+
+configure_file(ypspur.pc.in
+  ${PROJECT_BINARY_DIR}/ypspur.pc @ONLY
+)
+
+set(
+  PKGCONFIG_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/share/pkgconfig
+  CACHE PATH "Install directory of pkgconfig file"
+)
+install(
+  FILES
+    ${PROJECT_BINARY_DIR}/ypspur.pc
+  DESTINATION ${PKGCONFIG_INSTALL_DIR}
+)
diff --git a/ypspur.pc.in b/ypspur.pc.in
new file mode 100644
index 0000000..bee1184
--- /dev/null
+++ b/ypspur.pc.in
@@ -0,0 +1,11 @@
+prefix=@CMAKE_INSTALL_PREFIX@
+exec_prefix=${prefix}
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: ypspur
+Description: A mobile robot motion control library
+Version: @PROJECT_VERSION@
+
+Libs: -L${libdir} -lypspur
+Cflags: -I${includedir}