need some theory

basically, i need theory on discrete control, such as discrete compensators,
smith's predictor, dead-beat regulator and others - plz dont point me to
google cuzz it hasnt been very helpful (or it's my bad choice of keywords
:)),so if u know a good tutorial on the net (has to be based on
z-transform), i'd be very grateful....
thanx in advance
"And that's the way cookie crumbles!"
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