There are many situations in which one can preview future reference signals, or future disturbances. Optimal Preview Control is concerned with designing controllers which use this preview to improve closed-loop performance. In this thesis a general preview control problem is presented which includes previewable disturbances, dynamic weighting functions, output feedback and nonpreviewable disturbances. It is then shown how a variety of problems may be cast as special cases of this general problem; of particular interest is the robust preview tracking problem and the problem of disturbance rejection with uncertainty in the previewed signal. . (', The general preview problem is solved in both the Fh and Beo settings. The H2 solution is a relatively straightforward extension ofpreviously known results, however, our contribution is to provide a single framework that may be used as a reference work when tackling a variety of preview problems. We also provide some new analysis concerning the maximum possible reduction in closed-loop H2 norm which accrues from the addition of preview action. / Name of candidate: Title of thesis: I DESCRIPTION OF THESIS Andrew Hazell Discrete-Time Optimal Preview Control The solution to the Hoo problem involves a completely new approach to Hoo preview control, in which the structure of the associated Riccati equation is exploited in order to find an efficient algorithm for computing the optimal controller. The problem tackled here is also more generic than those previously appearing in the literature. The above theory finds obvious applications in the design of controllers for autonomous vehicles, however, a particular class of nonlinearities found in typical vehicle models presents additional problems. The final chapters are concerned with a generic framework for implementing vehicle preview controllers, and also a'case study on preview control of a bicycle.