Programming Massively Parallel Processors: A Hands-on Approach, 2nd Ed, by David Kirk and Wen-mei Hwu (Morgan Kaufmann Publishers (2012)), Ch 6: §6.1-6.2. Or, read Chapter 5, § 5.1-2.
“Benchmarking GPUs to tune dense linear algebra,” by V. Volkov and J. Demmel. Proc. 2008 ACM/IEEE Conf. on Supercomputing, Austin, TX, Nov. 15 - 21, 2008. PDF. Read through §4.