1. Nonlinear Model Predictive Control;Allgower,2000
2. Guidance and Control of Ocean Vehicles;Fossen,1994
3. Im, N. and K. Hasegawa (2001), A Study on Automatic Berthing Using Parallel Neural Controller, Journal of the kansai society of naval architects Japan, No.236, pp.117-120.
4. Im, N. and K. Hasegawa (2002), A Study on Automatic Berthing Using Parallel Neural Controller (2nd Report), Journal of the kansai society of naval architects Japan, No.237, pp.127-132.
5. General Technique for Solving Nonlinear two points Boundary-Value Problems via the Method of Particular Solutions;Miele;Journal of Optimization Theory and Applications,1970