S.Skogestad and I.Postlethwaite,
Multivariable feedback control , 2nd Edition,
Wiley 2005, 592 pages.
MATLAB files for the book
There are available MATLAB files for most of the examples given in the
book, as well as a number of files used to generate figures and tables.
NOT quite updated yet for 2nd edition.
Please see 1st edition in the meantime.