@INPROCEEDINGS{Kouzoupis2015a,
  author = {D. Kouzoupis and H.J. Ferreau and H. Peyrl and M. Diehl},
  title = {First-order methods in embedded nonlinear model predictive control},
  booktitle = {Proceedings of the European Control Conference (ECC 2015), Linz, Austria},
  year = {2015},
  pages = {2622--2627},
  keywords = {NMPC, fast gradient method, ACADO, qpOASES, FORCES, FiOrdOs}
}