@incollection{eprints4009,
          author = {Mario Zanon and Andrea Boccia and Vryan Gil S. Palma and Sonja Parenti and Ilaria Xausa},
       publisher = {Springer},
       booktitle = {Optimal Control: Novel Directions and Applications},
          number = {2180},
           pages = {263--382},
            year = {2017},
          series = {Lecture Notes in Mathematics},
           title = {Direct Optimal Control and Model Predictive Control},
             url = {http://eprints.imtlucca.it/4009/}
}