About the Gap between Theory and Practice.- Part I: From Theory towards Practice.- Identification and Control Using Piece-wise Hammerstein Models.- Tracking Explicit Model Predictive Controllers for Low-level Control Applications.- Divide-and-conquer Method for Analysis and Control of Nonlinear Systems.- Model-based Control of Nitrogen-removal Processes in a Wastewater-treatment Plant.- Part II: From Practice towards Theory.- Temperature Control in a Plastic Extruder Control System.- Tension Control in a Steel-slitting Line.- Final Quality Assessment in the Manufacturing of Electrical Motors.- Model-based Estimation of Burn Injuries.- Part III: Tools and Building Blocks for Control Systems Implementation.- A PLC-based System for Advanced Control.- An Approach to Control Systems SW Development.