The text builds understanding starting with optimal controls for simple linear systems and working through constrained systems to nonlinear cases. RHC is applied to discrete-time systems for easier computer application and its techniques are unified using the state-space framework. Examples and exercises allow you to practise as you go. MATLAB® files for the solution of selected examples can be downloaded from http://extras.springer.com.

Students following masters and doctoral courses in control will find this book an excellent companion to tuition and research. Tutors and academics researching predictive control can use it not only as a scholarly textbook but as a co-ordinated reference for its wide range of RHC schemes.