Farouki, R. T. <br/><br/>
Pythagorean-Hodograph Curves: Algebra and Geometry Inseparable 

 - Berlin  Springer Verlag  2008 
 - xvi, 728p. 
 - Geometry and Computing No.1 .
<br/><br/><label>ISBN: </label>978-3-540-73397-3