The use of distributed algorithms offers the prospect of great advances in computing speed. This book attempts to provide a clear, practical and up-to-date guide to distributed algoriths and protocols in the area of control. The first chapter lays the foundations; subsequent chapters, which can be studied independently of each other, consider different aspects of control. Each chapter consists of an analysis of the problem, followed by descriptions of the algorithms to solve it, with proofs of correctness. The book will be of use for undergraduate and graduate students in computer science, and also researchers and software engineers.