@INBOOK{Ferreau2009,
  author = {H.J. Ferreau and B. Houska and T. Kraus and M. Diehl},
  title = {7th Conference - Computer Methods and Systems (CMS'09)},
  chapter = {{N}umerical {M}ethods for {E}mbedded {O}ptimisation and their {I}mplementation within the {ACADO} {T}oolkit},
  editor = {R. Tadeusiewicz, A. Ligeza, W. Mitkowski and M. Szymkat},
  publisher = {Oprogramowanie Naukowo-Techniczne},
  year = {2009},
  keywords = {real-time optimization, numerical optimal control, model predictive control, optimization software}
}