This is a bit of a slog to read, but it's not bad: http://www.amazon.com/Adaptive-Control-Edition-Johan-Astrom/dp/0201558661 http://www.amazon.com/Adaptive-Cont

This is a bit of a slog to read, but it's not bad: http://www.amazon.com/Adaptive-Control-Edition-Johan-Astrom/dp/0201558661 http://www.amazon.com/Adaptive-Control-Edition-Johan-Astrom/...