This book focuses on recent advances in and applications of constrained and nonlinear control. The first part concentrates on theoretical aspects, highlighting synergies between constrained and nonlinear control and explaining challenges and opportunities. The second part examines practical applications. This collection originated from a workshop at the Royal Academy of Belgium. The volume features contributions from authors based in both academia and industry. Each chapter provides an introduction to a specific research area, reports new findings, and comments on challenges and future research opportunities. The book serves as an entry point for readers interested in recent developments in constrained and nonlinear control.