The present book includes a set of selected papers from the fourth ¿International Conference on Informatics in Control Automation and Robotics¿ (ICINCO 2009), held in Milan, Italy, from 2 to 5 July 2009. The conference was organized in three simultaneous tracks: ¿Intelligent Control Systems and Optimization¿, ¿Robotics and Automation¿ and ¿Systems Modeling, Signal Processing and Control¿. The book is based on the same structure. ICINCO received 365 paper submissions, not including those of workshops, from 55 countries, in all continents. After a double blind paper review performed by the Program Committee only 34 submissions were accepted as full papers and thus selected for oral presentation, leading