@INPROCEEDINGS{Huyck2012a,
  author = {B. Huyck and H.J. Ferreau and M. Diehl and J. De Brabanter and J.F.M. Van Impe and B.L.R. De Moor and F. Logist},
  title = {Towards Online Model Predictive Control on a Programmable Logic Controller: Practical Considerations},
  journal = {International Journal of Robust and Nonlinear Control},
  year = {2012},
  pages = {Article ID 912603},
  keywords = {PLC, qpOASES}
}