first industrial application of MPC was in 1973. A key motivation was to provide better performance than could be obtained with the widely-used PID controller whilst making it easy to replace the PID controller unit or module with his new algorithm. It was the advent of digital control technology and the use of software control algorithms that made this replacement easier and more acceptable to process engineers. A decade of industrial practice with PFC was reported in the archival literature by Jacques Richalet et al. in 1978 in an important seminal Automatica paper. Around this time, Cutler and Ramaker published the dynamic matrix control algorithm that also used knowledge of future reference signals to determine a sequence of control signal adjustment. Thus, the theoretical and practical development of predictive control methods was underway and subsequent developments included those of generalized predictive control, and the whole armoury of MPC methods. Jacques Richalet's approach to PFC was to seek an algorithm that was: * easy to understand; * easy to install; * easy to tune and optimise. He sought a new modular control algorithm that could be readily used by the control-technician engineer or the control-instrument engineer. It goes without saying that this objective also forms a good market strategy.

first industrial application of MPC was in 1973. A key motivation was to provide better performance than could be obtained with the widely-used PID controller whilst making it easy to replace the PID controller unit or module with his new algorithm. It was the advent of digital control technology and the use of software control algorithms that made this replacement easier and more acceptable to process engineers. A decade of industrial practice with PFC was reported in the archival literature by Jacques Richalet et al. in 1978 in an important seminal Automatica paper. Around this time, Cutler and Ramaker published the dynamic matrix control algorithm that also used knowledge of future reference signals to determine a sequence of control signal adjustment. Thus, the theoretical and practical development of predictive control methods was underway and subsequent developments included those of generalized predictive control, and the whole armoury of MPC methods. Jacques Richalet's approach to PFC was to seek an algorithm that was: * easy to understand; * easy to install; * easy to tune and optimise. He sought a new modular control algorithm that could be readily used by the control-technician engineer or the control-instrument engineer. It goes without saying that this objective also forms a good market strategy.

This historical review of gliogenesis begins with the introduction of the cell doctrine by Theodor Schwann in 1839. A number of investigators then showed that tissues and organs were made up of cells. However, when Virchow examined the CNS, what separated nerve cells from each other and from blood vessels appeared to be an unstructured ground substance. He called this binding material "glia" (for glue) and thought it was related to connective tissue. Deiters, a pupil of Virchow, discovered that this ground substance was composed of cells, which he described and illustrated. Subsequent improvements in microscope lenses and the introduction of metallic impregnation methods finally permitted the visualization of glial cells and their processes in toto. Light microscopic studies led to the discovery of different types of glial cellsastroglia, oligodendroglia, microglia, ependymal cells in the CNS, and Schwann cells in the PNS. Subsequent observations characterized the origin and development of each type of glial cell. In the 1950s a new era began with the introduction of electron microscopy, tissue culture, and immunocytochemistry. Other techniques and models were developed and exploited in order to better understand the origins of glia and how they multiply, migrate, and differentiate. In this review, morphology is emphasized. Findings related to cytodifferentiation and the cellular interactions, functions, and regulation of developing glia have also been included.

Original study and a review of the pertinent literature are presented in this monograph on the early development of the neopallial wall and the choroidal area in vertebrates before the appearance of nerve cells. In the pre-neural period the telencephalic wall is a cohesive, non-stratified epithelial sheet of elongated, radially oriented, polarized cells. Although these cells, including the radial glial cells, differ from each other in various regions and change in shape, internal structure and phenotypic expression during development, they have a basic unity. The book draws attention to this unity and discusses the cells' morphogenesis and functions, and the mechanisms which help to shape the early cerebral hemispheres. The pre-neural period is of fundamental importance for the development of the cerebrum. The knowledge presented here of how cells differentiate during the early stages will help neuroscientists by providing a basis for comparisons with cultured cells and explants, and with cells seen in lineage studies and with microscopic observations of living animals in which dynamic events in the CNS can be seen directly. This work will improve our understanding of many developmental abnormalities of the nervous system.