A comprehensive development of interpolating control, this monograph demonstrates the reduced computational complexity of a ground-breaking technique compared with the established predictive control model. The text deals with the regulation problem for linear, time-invariant, discrete-time uncertain dynamical systems having polyhedral state and control constraints, with and without disturbances, and under state or output feedback. For output feedback, a non-minimal state-space representation is used with old inputs and outputs as state variables. Constrained control of uncertain, time-varying, discrete-time systems details interpolating control in both its implicit and explicit forms. In the former, at most two linear programming or one quadratic programming problems are solved online at each sampling instant to yield the value of the control variable. In the latter, the control law is shown.