Convex Optimization Stephen Boyd and Lieven Vandenberghe Cambridge University Press, 2004

Linear Matrix Inequalities in System and Control Theory Stephen Boyd, Laurent El Ghaoui, Eric Feron, and V. Balakrishnan Volume 15 of Studies in Applied Mathematics Society for Industrial and Applied Mathematics (SIAM), 1994

Linear Controller Design – Limits of Performance Stephen Boyd and Craig Barratt Prentice-Hall, 1991