If you publish work that uses FORCES in some way and would like to cite it, please use one of the following Bibtex entries:

The paper which describes the multistage problem and its properties when used in a primal-dual method:

	Title = {Efficient interior point Methods for Multistage Problems 
                 Arising in Receding Horizon Control},
	Author = {A. Domahidi and A. Zgraggen and M.N. Zeilinger and M. Morari and C.N. Jones},
	Address = {Maui, HI, USA},
	Booktitle = {IEEE Conference on Decision and Control (CDC)},
        pages={668 -- 674},
	Month = dec,
	Year = 2012

If you just want to acknowledge the code generator, you can use

	Author = {Alexander Domahidi},
	Howpublished = {\url{}},
	Month = oct,
	Title = {{FORCES}: Fast Optimization for Real-time Control on Embedded Systems},
	Year = 2012