Murray-Smith, R. <https://eprints.gla.ac.uk/view/author/11535.html>, Sbarbaro, D., Rasmussen, C.E. and Girard, A.  (2003)  Adaptive, cautious, predictive control with Gaussian process priors.   In: 13th IFAC Symposium on System Identification, Rotterdam, Netherlands, 27-29 August 2003,  pp. 1195-1200.   ISBN 0080437095