Tou J.T. Optimum design of digital control systems

New York: Academic Press, 1963. — 195 p.General principles of optimum design
Optimum control for multivariable processes
Optimum control for processes with inaccessible state variables
Optimum estimation of state variables
Optimum control for random-parameter processes
An illustrative example
Design for optimum quantization
Time responses for optimum quantized systems