1. Hu, T., Lin, Z.: Control Systems with Actuator Saturation: Analysis and Design. Springer Science & Business Media, Berlin (2001)
2. Åström, K.J., Hägglund, T.: PID Controllers: Theory, Design, and Tuning, vol. 2. Instrument Society of America Research Triangle Park, NC (1995)
3. Åström, K.J., Hägglund, T., Astrom, K.J.: Advanced PID Control, vol. 461. ISA-The Instrumentation Systems, and Automation Society Research Triangle (2006)
4. Goodwin, G., Seron, M.M., De Doná, J.A.: Constrained control and estimation: an optimisation approach. Springer Science & Business Media, Berlin (2006)
5. Bak, M.: Control of systems with constraints. Ph.D. thesis, Technical University of Denmark, Department of Automation (2000)