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 pro cess 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 Generalised 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 analysed in this text.