@INBOOK{Diehl2009,
  author = {M. Diehl and H.J. Ferreau and N. Haverbeke},
  title = {Nonlinear Model Predictive Control},
  chapter = {Efficient Numerical Methods for Nonlinear MPC and Moving Horizon Estimation},
  editor = {L. Magni and M.D. Raimondo and F. Allg\"ower},
  publisher = {Springer},
  year = {2009},
  pages = {391--417},
  volume = {384},
  series = {Lecture Notes in Control and Information Sciences},
  keywords = {real-time optimization, numerical optimal control, Newton type methods, structure exploitation},
 }