@ARTICLE{Houska2011,
  author = {B. Houska and H.J. Ferreau and M. Diehl},
  title = {An Auto-Generated Real-Time Iteration Algorithm for Nonlinear {MPC} in the Microsecond Range},
  journal = {Automatica},
  year = {2011},
  volume = {47},
  number = {10},
  pages = {2279--2285},
  keywords = {nonlinear model predictive control, automatic C-code generation, real-time algorithms}
}