From the reviews:

This book provides a seminal foundation for unifying constrained control and constrained estimation within the framework of nonlinear programming… A lot of thought and years of work have gone into developing this complete picture of an extremely complex field… Important geometric intuition is given on every front. The presentation style is lucid and makes for fascinating reading and study. In this day and age, the mathermatical demonstrations and proofs are welcome, while the case studies show the practical relevance of the approach as laid out in this very welcome book.

IEEE Transactions on Automatic Control 51 (2006) 176 – 177 (Reviewer: Frank L. Lewis)

This is an excellent book dealing with the important topic of constrained control and estimation. Constraints are present in all real systems and have been somewhat neglected by most of the existing control techniques with only a few exceptions such as MPC. Although the book cannot be classified as an MPC book, a significant part of the text is dedicated to receding horizon control and this work comlements and is a valuable addition to the list of existing MPC books.

The book is self-contained, with an extensive list of references, well-structured, and covers a wide range of topics required for constrained control and estimation. It is presented with a sufficient level of detail and mathematical rigor to be used as a textbook for research students or as the basis of a self-study programme for practitioners in constrained control and estimation.

International Journal of Robust and Nonlinear Control 17 (2007) 347 – 354 (Reviewer: Eduardo F. Camacho)

This book is a study on … problems for linear finite-dimensional discrete-time systems.… References and an index are included at the end.… this book is worth acquiring for those involved in control system design, and it produces a valuablecontribution to the area of constrained control systems.

Zentralblatt MATH 1078 (2006) (Reviewer: A. Akutowicz)