Efficient Implementation of Collocation Methods for Optimization using OpenModelica and ADOL-C
V. Ruge, W. Braun, B. Bachmann, A. Walther, K. Kulshreshtha, in: Proceedings of the 10th International Modelica Conference, March 10-12, 2014, Lund, Sweden, Linköping University Electronic Press, 2014, pp. 1017–1025.