First we need to know how your system works. Second this system shall be modelated. Or you use a software (real time simulation)- Dynsim, Matlab, Ecosimpro, and may others that have libraries adequated to the field (Aspen, Aspo, gPROMS, .....). The simulation is more easy because you only need to tune the models and construct you model with the model libraries.
Books are many (try to search Google). If you need to create the models like in Matlab (without libraies - control, hidraulic, mechanical, electrical,...) you need to spend a lot because we need to know advanced mathematic (remember that in one system for create each model are diferential equations <> non-linear models).
Here in egpet you find books and software.