Preface IXIn the fortha nd last part of theb ookt he applicabilityo ft he theoretical resultsi sd emonstrated on am echanicall aboratoryp rocess andatraction control system developedj ointly withF ord MotorC ompany in Michigan.Francesco Borrelli sets. Alongw ith the analysis of thes olutionproperties we presentalgorithms that efficientlyc omputet he optimalc ontrol lawf or allt he considered cases.