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)

Real-time process control in Ada. - P. Simon Tuffs (TRI-Ada, 1988)