@MASTERSTHESIS{Ferreau2006b,
  author = {H.J. Ferreau},
  title = {An Online Active Set Strategy for Fast Solution of Parametric Quadratic Programs with Applications to Predictive Engine Control},
  school = {University of Heidelberg},
  year = {2006},
  keywords = {model predictive control, parametric quadratic programming, online active set strategy, real-time optimisation, engine control}
}