Lugner P. (eds) Vehicle Dynamics of Modern Passenger Cars. CISM International Centre for Mechanical Sciences (Courses and Lectures), pp. 109-204 Springer, 2019.
Ch. 3 of "The Control Handbook: Control System Applications, Second Edition", William S. Levine (Ed.), pp. 3.1-3.60, CRC Press, Boca Raton, FL, USA, 2011.