'Performance requirements and design limitations' (Control, Robotics & Sensors, 2018), 'Design of Embedded Robust Control Systems Using MATLAB® / Simulink®', Chap. 3, pp. 147-202, DOI: 10.1049/PBCE113E_ch3
IET Digital Library, https://digital-library.theiet.org/;jsessionid=rjmssjqnjsfk.x-iet-live-01content/books/10.1049/pbce113e_ch3