The material for this part of the course is introduced only very briefly in Hennessy and Patterson. A good textbook which covers it properly is
Michael Wolfe, ``High Performance Compilers for Parallel Computing'' [#!Wolfe:96!#].Much of the presentation is taken from the following research paper:
U. Banerjee, ``Unimodular transformations of double loops'' [#!banerjee:90!#].Banerjee's paper gives a simplified account of the theory in the context only of perfect doubly-nested loops with well-known dependences.