@ARTICLE{Houska2010,
  author = {B. Houska and H.J. Ferreau and M. Diehl},
  title = {{ACADO} {T}oolkit -- {A}n {O}pen {S}ource {F}ramework for {A}utomatic {C}ontrol and {D}ynamic {O}ptimization},
  journal = {Optimal Control Applications and Methods},
  year = {2011},
  volume = {32},
  pages = {298--312},
  number = {3},
  note = {(in print)},
  keywords = {dynamic optimization, model predictive control, parameter estimation, optimization software}
}