@INPROCEEDINGS{Vukov2013,
  author = {M. Vukov and A. Domahidi and H.J. Ferreau and M. Morari and M. Diehl},
  title = {{A}uto-generated {A}lgorithms for {N}onlinear {M}odel {P}redictive {C}ontrol on {L}ong and on {S}hort {H}orizons},
  booktitle = {Proceedings of the 52nd IEEE Conference on Decision and Control, Firenze, Italy.},
  pages = {5113--5118},
  year = {2013},
  keywords = {predictive control; code generation; ACADO Toolkit; FORCES}
}