@incollection{Käpernick12,
author = {Knut Graichen and Bartosz Käpernick},
title = {A Real-Time Gradient Method for Nonlinear Model Predictive Control},
booktitle = {Frontiers of Model Predictive Control},
publisher = {IntechOpen},
address = {Rijeka},
year = {2012},
editor = {Tao Zheng},
chapter = {1},
doi = {10.5772/37638},
url = {https://doi.org/10.5772/37638}
}