Can someone recommend a readable source on pipelining recursive structures? There are many papers on IEEE on the Look-Ahead methods but they are all so very badly written they might as well be written in Klingon. And none talk about implementation. Is there a methodology that applies to the signal flow graph directly rather than just the transfer function? Not every filter can/should be broken down into biquads.

Thanks

Digital Signal Processing with Field Programmable Gate Arrays by Uwe Meyer-Baese

has a section (4.4.2 in 3rd Ed.) dedicated to Clustering method and Look-Ahead Pipelinening.