In reply to Doug:
Ah sorry, didn't realise the url was through the library link.
Its the following:
@book{kouvaritakis2001non,
title={Non-Linear Predictive Control: Theory and Practice},
author={Kouvaritakis, B. and Cannon, M. and Institution of Electrical Engineers},
isbn={9780852969847},
lccn={2001391142},
series={Control, Robotics and Sensors Series},
year={2001},
publisher={Institution of Engineering and Technology}
}