Zanon, Mario and Boccia, Andrea and Palma, Vryan Gil S. and Parenti, Sonja and Xausa, Ilaria  Direct Optimal Control and Model Predictive Control.   In:  Optimal Control: Novel Directions and Applications.   Lecture Notes in Mathematics  (2180).  Springer, pp. 263-382.  ISBN 978-3-319-60771-9      (2017)