@INPROCEEDINGS{Wirsching2007,
  author = {L. Wirsching and H.J. Ferreau and H.G. Bock and M. Diehl},
  title = {An Online Active Set Strategy for Fast Adjoint Based Nonlinear Model	Predictive Control},
  booktitle = {Preprints of the 7th Symposium on Nonlinear Control Systems (NOLCOS), Pretoria},
  year = {2007},
  pages = {234--239},
  keywords = {nonlinear model predictive control, adjoint based real-time iteration scheme, parametric quadratic programming, online active set strategy}
}