Reihe Communications and Control EngineeringGraham Goodwin × Constrained Control and EstimationAn Optimisation ApproachGraham GoodwinSpringer LondonSoftcover2010 Constrained Control and EstimationAn Optimisation ApproachGraham GoodwinSpringer LondoneBook2006 Constrained Control and EstimationAn Optimisation ApproachGraham GoodwinSpringer LondonHardcover2004