This reference introduces the essentials of a successful feedback strategy with applications in many industries. RHC has important advantages over other types of control, including greater adaptability to parametric changes than infinite horizon control, and better tracking than PID. The text builds understanding starting with 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. Using MATLAB® files available from springeronline.com, exercises and examples give the student more practice in the predictive control and filtering techniques presented.