@Article{Andersson2019,
  author = {Joel A E Andersson and Joris Gillis and Greg Horn
            and James B Rawlings and Moritz Diehl},
  title = {{CasADi} -- {A} software framework for nonlinear optimization
           and optimal control},
  journal = {Mathematical Programming Computation},
  volume = {11},
  number = {1},
  pages = {1--36},
  year = {2019},
  publisher = {Springer},
  doi = {10.1007/s12532-018-0139-4}
}