Goodwin, G. C., Seron, M., & De Dona, J. (2005). Constrained control and estimation: An optimization approach. Springer.

Goodwin, Graham C., M. Seron, and Jose De Dona. Constrained Control and Estimation: An Optimization Approach. New York: Springer, 2005.

Goodwin, Graham C., et al. Constrained Control and Estimation: An Optimization Approach. Springer, 2005.