Real-time optimization and Nonlinear Model Predictive Control of Processes governed by Differential-Algebraic Equations. Diehl, M., Findeisen, R., Nagy, Z., Bock, H., Schlöder, J., & Allgöwer, F. J.\ Proc.\ Contr., 4(12):577-585, 2002.
bibtex   
@ARTICLE{ist:diehl01a,
  author = {Diehl, M. and Findeisen, R. and Nagy, Z. and Bock, H.G. and Schl{\"o}der,
	J.P. and Allg{\"o}wer, F.},
  title = {Real-time optimization and Nonlinear Model Predictive Control of
	Processes governed by Differential-Algebraic Equations},
  journal = {J.\ Proc.\ Contr.},
  year = {2002},
  volume = {4},
  pages = {577-585},
  number = {12},
  pubtype = {journal}
}

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