This book addresses the mathematical and the practical aspects of motion implied by advanced control theory. The richness and power of the theory are demonstrated by separate analyses of single-model and multi-modal repertoires, consisting of verities of estimation and control facets. Starting with purely mathematical concepts, specifically, abstract probability and information theories, model control theory is gradually revealed as a rather amazing domain. The mathematical equations, taking essentially simple forms, are exposed as powerful generators of motion. Moreover, seemingly obvious...