See the slides:
 http://ii.fmph.uniba.sk/cl/view/courses/1-AIN-625-lpp/1314zs/pr/doc/handout.pr02.pdf
 http://ii.fmph.uniba.sk/cl/view/courses/1-AIN-625-lpp/1314zs/pr/doc/handout.pr08.pdf
 http://ii.fmph.uniba.sk/cl/view/courses/1-AIN-625-lpp/1314zs/pr/doc/handout.pr09.pdf
See also some of the lecture notes from previous years:
 http://ii.fmph.uniba.sk/cl/view/courses/1-AIN-625-lpp/1011zs/ln/doc/ch_g_uf.pdf