?url_ver=Z39.88-2004&rft_id=doi%3A10.1002%2Foca.2152&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.au=Quirynen%2C+Rien&rft.aufirst=Rien&rft.aulast=Quirynen&rft.issn=0143-2087&rft.date=2014&rft.title=Optimal+Control+Applications+and+Methods&rft.atitle=Autogenerating+microsecond+solvers+for+nonlinear+MPC%3A+A+tutorial+using+ACADO+integrators&rft.issue=5&rft.pages=685-704&rft.volume=36&rft.genre=article