@INPROCEEDINGS{BEAL_DSCC_10,
      author={Craig E. Beal and J. Christian Gerdes},
      title={{A} {M}ethod for {I}ncorporating {N}onlinear {T}ire {B}ehavior into
             {L}inear {M}odel {P}redictive {C}ontrol for {V}ehicle {S}tability},
      booktitle={Proceedings of the 2010 ASME Dynamic Systems and Control
          Conference, Boston, Massachusetts, USA},
      organization = {ASME Dynamic Systems and Control Division},
      year={2010},
      month={October}
}