Burrus, C.S., J.H. McClellan, A.V. Oppenheim, T.W. Parks, R.W. Schafer, and H.W. Schuessler, Computer-Based Exercises for Signal Processing Using MATLAB, Prentice Hall, Englewood Cliffs, New Jersey, 1994.
 Franklin, G.F., J.D. Powell, and M.L. Workman, Digital Control of Dynamic Systems, Second Edition, Addison-Wesley Publishing Company, Reading, Massachusetts, 1990.
 Handbook For Digital Signal Processing, edited by S.K. Mitra and J.F. Kaiser, John Wiley & Sons, Inc., New York, 1993.
 Hanselmann, H., “Implementation of Digital Controllers — A Survey,” Automatica, Vol. 23, No. 1, pp. 7-32, 1987.
 Jackson, L.B., Digital Filters and Signal Processing, Second Edition, Kluwer Academic Publishers, Seventh Printing, Norwell, Massachusetts, 1993.
 Middleton, R. and G. Goodwin, Digital Control and Estimation — A Unified Approach, Prentice Hall, Englewood Cliffs, New Jersey. 1990.
 Moler, C., “Floating points: IEEE Standard unifies arithmetic model,” Cleve's Corner, The MathWorks, Inc., 1996. You can find this article at
 Ogata, K., Discrete-Time Control Systems, Second Edition, Prentice Hall, Englewood Cliffs, New Jersey, 1995.
 Roberts, R.A. and C.T. Mullis, Digital Signal Processing, Addison-Wesley Publishing Company, Reading, Massachusetts, 1987.