I have a copy of that book. I'll let you know what I find. I've also been finding surprise Creature Shop-related pics via Getty and so on, so it may be there (or in one of the Dinosaurs DVD featurettes). I'll report back later.
Okay, book checked. No pictures, some info but they don't even call it by name (just discuss how Dave Housman and other developed this new method and what it is).
Despite winning a technical Oscar, I can't find any pictures of the system in use (or even the award acceptance). So I'll check the DVDs (I even have the Ninja Turtles ones, thanks to library bookstores.)
Rewatched it just now (skimmed). My memory failed me on the narrator (it was Bruce Robertson, a different Bay Area voice actor who did Star Wars games only and dubbed 1980s French environmental cartoons starring a baby seal).
About ten minutes in, the Creature Shop stuff. No interviewing of the Henson Performance Control System people, focus mainly on the suits and heads, but does have shots of several puppeteers working the waldos, the monitors, and the other stuff involved. So might still be useful, but Dinosaurs is our best hope for anything more detailed.
Or the DVD. It's funny sometimes when you realize on occasion *more* extra stuff existed on VHS, even if as a stand alone or bonus tape in itself. (Making of tapes sometimes included in box sets, sometimes sold separately).
Here's a 1986 BBC interview with Peter Miller demoing his Scorpion control computer, the basis of the later Henson Performance Control System. He went on to win a 1991 Academy Award for it, alongside some Henson colleagues.