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S1 A~rEte4 or ubl ic releftse/820 7 J l inS, lllr.............. The research supported by AFOSR Grant 76-2923 has led to some significant results which can be used in the design of optimal controllers when distur-bances are present. Sufficient conditions which a minmax control must satisfy were developed for systems with disturbances in the state equation or in the measurement of the initial state. From these conditions, constructive tech-niques were developed which can be used to generate minmax controllers. The second major arc of the research was controllability problems. Criteria for determining the controllability properties of constrained systems were derived. The criteria involve finite dimensional optimization problems and are amenable to computer implementation.-A