The use of distributed algorithms offers the prospect of great advances in computing speed. This book provides a clear, practical, and up-to-date guide to distributed algorithms and protocols in the area of control. Much of the material has been heretofore unavailable in English. Each chapter considers a specific aspect of control, with an analysis of the problem, a description of the algorithm for solving it, and proofs of correctness. Chapters can be studied independently to find solutions to particular problems.