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Andersson, J.A.E., Gillis, J., Horn, G., Rawlings, J.B. and Diehl, M. (2019) CasADi—A Software Framework for Nonlinear Optimization and Optimal Control. Mathematical Programming Computation, 11, 1-36.
https://doi.org/10.1007/s12532-018-0139-4

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