@INPROCEEDINGS{Frasch2014,
  author = {J.V. Frasch and M. Vukov and H.J. Ferreau and M. Diehl},
  title = {A New Quadratic Programming Strategy for Efficient Sparsity Exploitation in {SQP}-Based Nonlinear {MPC} and {MHE}},
  booktitle = {Proceedings of the 19th IFAC World Congress, Cape Town, South Africa},
  pages = {2945--2950},
  year = {2014},
  keywords = {dual Newton strategy, sparse QP solution, qpOASES}
}