In recent years Model Predictive Control (MPC) schemes have established themselves as the preferred control strategy for a large number of processes. Their ability to handle constraints and multivariable processes and their intuitive way of posing the process control problem in the time domain are two reasons for their popularity. This volume by authors of international repute provides an extensive review concerning the theoretical and practical aspects of predictive controllers. It describes the most commonly used MPC strategies, especially Generalized Predictive Control (GPC), showing both their theoretical properties and their practical implementation issues. Topics such as multivariable MPC, constraint handling, stability and robustness properties are thoroughly analyzed in this text. This book met with great acceptance and enthusiasm at the American Control Conference in San Diego, CA, June 1999, where it was the best-selling book at the Springer exhibit.