The present book includes a set of selected papers from the first International Conference on Informatics in Control Automation and Robotics (ICINCO 2004), held in Setubal, Portugal, from 25 to 28 August 2004. The conference was organized in three simultaneous tracks: Intelligent Control Systems and Optimization, Robotics and Automation and Systems Modeling, Signal Processing and Control . The book is based on the same structure. Although ICINCO 2004 received 311 paper submissions, from 51 different countries in all continents, only 115 where accepted as full papers. From those, only 29 were...