BibTex format
@inproceedings{Nie:2018:10.1109/control.2018.8516847,
author = {Nie, Y and Kerrigan, EC},
doi = {10.1109/control.2018.8516847},
publisher = {IEEE},
title = {Efficient Implementation of Rate Constraints for Nonlinear Optimal Control},
url = {http://dx.doi.org/10.1109/control.2018.8516847},
year = {2018}
}