@INPROCEEDINGS{BEAL_AAC10,
  author = {Craig E. Beal and J. Christian Gerdes},
  title = {{E}xperimental {V}alidation of a {L}inear {M}odel {P}redictive {E}nvelope {C}ontroller in the {P}resence of {V}ehicle {N}onlinearities},
  booktitle = {Proceedings of the 2010 IFAC Symposium on Advances in Automotive Control. Munich, Germany.},
  year = {2010},
  month = {July},
  organization = {IFAC Technical Committee of Automotive Control},
}