The style of the book reflects the authora (TM)s wish to assist in the effective learning of optimal control by suitable choice of topics, the mathematical level used, and by including numerous illustrated examples. The book has been written for undergraduate and postgraduate students who already know control theory, basic linear systems and possess a background in calculusa ]. In my view the book suits its function and purpose, in that it gives a student a comprehensive coverage of optimal control in an easy-to-read fashion. a Measurement and Control