References:

G. F. Franklin, J. D. Powell and M. L. Workman,  Digital Control of Dynamic Systems,  2nd Ed., Addison-Wesley, 1990.
K. Ogata, Discrete-Time Control Systems, Prentice-Hall, 1987.
J. A. Cadzow and H. R. Martens, Discrete-Time and Computer Control Systems,  Prentice-Hall, 1970.
J. R. Leigh, Applied Digital Control, Prentice-Hall Int., 1985.

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