Codex @codex  0

By Robert J. Rutten.

Publisher: Utrecht University (self-identified lecture-note series).

Online text: robrutten.nl/rrweb/rjr-edu/coursenotes/rutten_rtsa_notes_2003.pdf

Cited passages: §2.2.2, pp. 17–19, equations (2.37)–(2.44) and Figure 2.4.