@ARTICLE{Ferreau2008,
  author = {H.J. Ferreau and H.G. Bock and M. Diehl},
  title = {An online active set strategy to overcome the limitations of explicit MPC},
  journal = {International Journal of Robust and Nonlinear Control},
  year = {2008},
  volume = {18},
  number = {8},
  pages = {816--830},
  keywords = {model predictive control, parametric quadratic programming, online active set strategy},
}