This book provides a unified@ practically oriented treatment to many constrained control paradigms. Recently proposed control strategies are unified in a generalised framework to deal with different kinds of constraints. The book's solutions are based on reference conditioning ideas implemented by means of supervisory loops@ and they are complementary to any other control technique used for the main control loop. Although design simplicity is a book priority@ the use of well established sliding mode concepts for theoretical analysis make it also rigorous and self-contained. The first part of the book focuses on providing a simple description of the method to deal with system constraints in SISO systems. It also illustrates the design and implementation of the developed technique through several case studies. The second part is denoted to multivariable constrained control problems: improving system decoupling under different plant or controller constraints@ and reducing the undesired effects caused by manual-automatic or controller switching. The key aim of this book is to reduce the gap between the available constrained control literature and industrial applications. Authors Fabricio Garelli@ Ricardo J. Mantz and Hern??n De Battista