@INPROCEEDINGS{Ferreau2006a,
  author = {H.J. Ferreau and H.G. Bock and M. Diehl},
  title = {An Online Active Set Strategy for Fast Parametric Quadratic Programming in {MPC} Applications},
  booktitle = {Proceedings of the IFAC Workshop on Nonlinear Model Predictive Control for Fast Systems, Grenoble},
  year = {2006},
  keywords = {Model predictive control, parametric quadratic programming, online active set strategy}
}