@INPROCEEDINGS{Alberer2009,
  author = {D. Alberer and H. Kirchsteiger and L. del Re and H.J. Ferreau and M. Diehl},
  title = {Receding horizon optimal control of Wiener systems by application of an asymmetric cost function},
  booktitle = {Proceedings of the IFAC Workshop on Control Applications of Optimisation, Agora, Finland},
  pages = {269--274},
  year = {2009},
  keywords = {Receding horizon optimal control, Wiener model, asymmetric cost function,	slack variables}
}