@INPROCEEDINGS{Ferreau2006,
  author = {H.J. Ferreau and G. Lorini and M. Diehl},
  title = {Fast Nonlinear Model Predictive Control of Gasoline Engines},
  booktitle = {Proceedings of the IEEE International Conference on Control Applications, Munich},
  year = {2006},
  pages = {2754--2759},
  keywords = {multiple shooting NMPC}
}