1. B. D. O. Anderson and J. B. Moore. Optimal Control Linear Quadratic Methods. Prentice Hall, Englewood Cliffs, N.J., 1990.
2. Karl Johan Åström. Fundamental limitations of control system performance. In A. Paulraj, V.Roychowdhury, and C. D. Schaper, editors, Communications, Computation, Control and Signal Processing—A Tribute to Thomas Kailath, pages 355–363. Kluwer, Boston, 1997.
3. Karl Johan Aström and Björn Wittenmark. Adaptive Control. Addison-Wesley, Reading, Massachusetts, second edition, 1995.
4. Stephen P. Boyd and Craig H. Barratt. Linear Controller Design - Limits of Performance. Prentice Hall Inc., Englewood Cliffs, New Jersey, 1991.
5. Michael Green and D. J. N. Limebeer. Linear Robust Control. Prentice Hall, Englewood Cliffs, N.J., 1995.