Generalized predictive control - Part I. The basic algorithm. - David W. Clarke; C. Mohtadi; P. Simon Tuffs (Autom., 1987)

Generalized Predictive Control - Part II Extensions and interpretations. - David W. Clarke; C. Mohtadi; P. Simon Tuffs (Autom., 1987)

Properties of generalized predictive control. - David W. Clarke; C. Mohtadi (Autom., 1989)