@inbook{Gerdts2012,
  author = {Gerdts, M. and Sager, S.},
  title = {Control and Optimization with Differential-Algebraic Constraints},
  chapter = {Mixed-Integer {DAE} Optimal Control Problems: Necessary conditions and bounds},
  publisher = {SIAM},
  year = {2012},
  editor = {Biegler, L. and Campbell, S.L. and Mehrmann, V.},
  note = {(accepted)},
  url = {http://mathopt.de/PUBLICATIONS/Gerdts2012.pdf}
}

@inproceedings{Kirches2010a,
  author = {C. Kirches and H.G. Bock and J.P. Schl\"{o}der and S. Sager},
  title = {Complementary Condensing for the Direct Multiple Shooting Method},
  booktitle = {Modeling, Simulation, and Optimization of Complex Processes. Proceedings of the Fourth International Conference on High Performance Scientific Computing, March 2-6, 2009, Hanoi, Vietnam},
  publisher = {Springer Verlag},
  year = {2012},
  editor = {H.G. Bock and H.X. Phu and R. Rannacher and J.P. Schl\"{o}der},
  pages = {195--206},
  address = {Heidelberg Dordrecht London New York},
  url = {http://mathopt.de/PUBLICATIONS/Kirches2010a.pdf}
}

@inproceedings{Sager2012b,
  author = {S. Sager},
  title = {A benchmark library of mixed-integer optimal control problems},
  booktitle = {Mixed Integer Nonlinear Programming},
  publisher = {Springer},
  year = {2012},
  editor = {J. Lee and S. Leyffer},
  pages = {631--670},
  url = {http://mathopt.de/PUBLICATIONS/Sager2012b.pdf}
}

@mastersthesis{Burgdoerfer2011,
  author = {Burgd\"orfer, H.},
  title = {Strukturausnutzende {A}lgorithmen der {Q}uadratischen {P}rogrammierung f\"ur gemischt-ganzzahlige {O}ptimalsteuerung},
  school = {Universit\"at Heidelberg},
  year = {2011}
}

@article{Engelhart2011,
  author = {Engelhart, M. and Lebiedz, D. and Sager, S.},
  title = {Optimal Control for Cancer Chemotherapy ODE Models: Potential of optimal schedules and choice of objective function},
  journal = {Mathematical Biosciences},
  year = {2011},
  volume = {229},
  number = {1},
  pages = {123--134},
  url = {http://mathopt.de/PUBLICATIONS/Engelhart2011.pdf}
}

@article{Graeber2011,
  author = {M. Gr\"aber and C. Kirches and H.G. Bock and J.P. Schl\"oder and W. Tegethoff and J. K\"ohler},
  title = {Determining the Optimum Cyclic Operation of Adsorption Chillers by a Direct Method for Periodic Optimal Control},
  journal = {International Journal of Refrigeration},
  year = {2011},
  volume = {34},
  number = {4},
  pages = {902--913},
  url = {http://dx.doi.org/10.1016/j.ijrefrig.2010.12.021},
  doi = {j.ijrefrig.2010.12.021}
}

@article{Huschto2011,
  author = {Huschto, T. and Feichtinger, G. and Kort, P.M. and Hartl, R.F. and Sager, S. and Seidl, A.},
  title = {Numerical Solution of a Conspicuous Consumption Model with Constant Control Delay},
  journal = {Automatica},
  year = {2011},
  volume = {47},
  pages = {1868--1877},
  url = {http://mathopt.de/PUBLICATIONS/Huschto2011.pdf},
  doi = {http://dx.doi.org/10.1016/j.automatica.2011.06.004}
}

@inproceedings{Kehrle2011,
  author = {Kehrle, F. and Frasch J.V. and Kirches, C. and Sager, S.},
  title = {Optimal control of Formula 1 race cars in a VDrift based virtual environment},
  booktitle = {IFAC World Congress, Volume 18},
  year = {2011},
  url = {http://mathopt.de/PUBLICATIONS/Kehrle2011.pdf}
}

@book{Kirches2011a,
  author = {C. Kirches},
  title = {Fast numerical methods for mixed-integer nonlinear model-predictive control},
  publisher = {Springer Vieweg},
  year = {2011},
  editor = {H.G. Bock and W. Hackbusch and M. Luskin and R. Rannacher},
  series = {Advances in Numerical Mathematics},
  address = {Wiesbaden},
  note = {ISBN 978-3-8348-1572-9},
  url = {http://www.springer-vieweg.de/Buch/978-3-8348-1572-9/Fast-Numerical-Methods-for-Mixed-Integer-Model-Predictive-Control.html}
}

@misc{Kirches2011d,
  author = {C. Kirches},
  title = {Schnell geschaltet!},
  journal = {Bild der Wissenschaft plus},
  year = {2011},
  pages = {12--15},
  url = {http://www.klaus-tschira-preis.info/download/2011/Klaus_Tschira_Preis_BdW_Supplement_2011.pdf}
}

@article{Kirches2011b,
  author = {C. Kirches and H.G. Bock and J.P. Schl\"oder and S. Sager},
  title = {A Factorization with Update Procedures for a {KKT} Matrix Arising in Direct Optimal Control},
  journal = {Mathematical Programming Computation},
  year = {2011},
  volume = {3},
  number = {4},
  pages = {319--348},
  doi = {http://dx.doi.org/10.1007/s12532-011-0030-z}
}

@article{Kirches2010b,
  author = {C. Kirches and H.G. Bock and J.P. Schl\"{o}der and S. Sager},
  title = {Block Structured Quadratic Programming for the Direct Multiple Shooting Method for Optimal Control},
  journal = {Optimization Methods and Software},
  year = {2011},
  volume = {26},
  number = {2},
  pages = {239--257},
  url = {http://www.informaworld.com/smpp/content~db=all~content=a919763304~frm=titlelink},
  doi = {http://dx.doi.org/10.1080/10556781003623891}
}

@techreport{Kirches2011c,
  author = {C. Kirches and S. Leyffer},
  title = {TACO -- A Toolkit for {AMPL} Control Optimization},
  year = {2011},
  number = {ANL/MCS-P1948-0911},
  address = {9700 South Cass Avenue, Argonne, IL 60439, U.S.A.}
}

@techreport{Kirches2011,
  author = {Kirches, C. and Potschka, A. and Bock, H.G. and Sager, S.},
  title = {A Parametric Active Set Method for a Subclass of Quadratic Programs with Vanishing Constraints},
  year = {2011},
  address = {Im Neuenheimer Feld 368, 69120 Heidelberg, Germany},
  url = {http://www.optimization-online.org/DB\_HTML/2011/01/2880.html}
}

@misc{Sager2011d,
  author = {S. Sager},
  title = {On the Integration of Optimization Approaches for Mixed-Integer Nonlinear Optimal Control},
  year = {2011},
  howpublished = {Habilitation thesis, University of Heidelberg},
  url = {http://mathopt.de/PUBLICATIONS/Sager2011d.pdf}
}

@article{Sager2011c,
  author = {Sager, S. and Barth, C. and Diedam, H. and Engelhart, M. and Funke, J.},
  title = {Optimization as an Analysis Tool for Human Complex Problem Solving},
  journal = {{SIAM} Journal on Optimization},
  year = {2011},
  volume = {21},
  number = {3},
  pages = {936--959},
  url = {http://mathopt.de/PUBLICATIONS/Sager2011c.pdf}
}

@article{Sager2011,
  author = {Sager, S. and Bock, H.G. and Diehl, M.},
  title = {The Integer Approximation Error in Mixed-Integer Optimal Control},
  journal = {Mathematical Programming A},
  year = {2011},
  note = {DOI 10.1007/s10107-010-0405-3},
  url = {http://mathopt.de/PUBLICATIONS/Sager2011.pdf},
  doi = {http://dx.doi.org/10.1007/s10107-010-0405-3}
}

@article{Sager2011a,
  author = {S. Sager and M. Jung and C. Kirches},
  title = {Combinatorial Integral Approximation},
  journal = {Mathematical Methods of Operations Research},
  year = {2011},
  volume = {73},
  number = {3},
  pages = {363--380},
  url = {http://mathopt.de/PUBLICATIONS/Sager2011a.pdf},
  doi = {http://dx.doi.org/10.1007/s00186-011-0355-4}
}

@mastersthesis{Buchner2010,
  author = {A. Buchner},
  title = {Auf {D}ynamischer {P}rogrammierung basierende nichtlineare modellpr\"adiktive {R}egelung f\"ur {LKW}},
  school = {Ruprecht--Karls--Universit\"at Heidelberg},
  year = {2010},
  url = {http://mathopt.de/PUBLICATIONS/Buchner2010.pdf}
}

@incollection{Dimitrov2010,
  author = {D. Dimitrov and P.-B. Wieber and O. Stasse and H.J. Ferreau and H. Diedam},
  title = {An Optimized Linear Model Predictive Control Solver},
  booktitle = {Recent Advances in Optimization and its Applications in Engineering},
  publisher = {Springer Berlin Heidelberg},
  year = {2010},
  editor = {M. Diehl and F. Glineur and E. Jarlebring and W. Michiels},
  pages = {309--318}
}

@inbook{Gruene2010,
  author = {L. Gr\"une and S. Sager and F. Allg\"ower and H.G. Bock and M. Diehl},
  title = {Production Factor Mathematics},
  chapter = {Predictive planning and systematic action -- on the control of technical processes},
  publisher = {Springer},
  year = {2010},
  editor = {M. Gr\"otschel and K. Lucas and V. Mehrmann},
  pages = {9--38},
  note = {ISBN 978-3-6421-1247-8}
}

@article{Herdt2010,
  author = {A. Herdt and H. Diedam and P.-B. Wieber and D. Dimitrov and K. Mombaur and M. Diehl},
  title = {Online Walking Motion Generation with Automatic Footstep Placement},
  journal = {Advanced Robotics},
  year = {2010},
  volume = {24},
  number = {5--6},
  pages = {719--737(19)}
}

@mastersthesis{Janka2010,
  author = {Janka, D.},
  title = {Optimum Experimental Design and Multiple Shooting},
  school = {Universit\"at Heidelberg},
  year = {2010}
}

@mastersthesis{Kehrle2010,
  author = {F. Kehrle},
  title = {Optimal Control of Vehicles in Driving Simulators},
  school = {Ruprecht--Karls--Unversit\"at Heidelberg},
  year = {2010},
  url = {http://mathopt.de/PUBLICATIONS/Kehrle2010.pdf}
}

@phdthesis{Kirches2010e,
  author = {C. Kirches},
  title = {Fast numerical methods for mixed--integer nonlinear model--predictive control},
  school = {Ruprecht--Karls--Universit\"at Heidelberg},
  year = {2010},
  note = {Available at http://www.ub.uni-heidelberg.de/archiv/11636/},
  url = {http://www.ub.uni-heidelberg.de/archiv/11636/}
}

@article{Kirches2010,
  author = {C. Kirches and S. Sager and H.G. Bock and J.P. Schl\"oder},
  title = {Time-optimal control of automobile test drives with gear shifts},
  journal = {Optimal Control Applications and Methods},
  year = {2010},
  volume = {31},
  number = {2},
  pages = {137--153},
  url = {http://mathopt.de/PUBLICATIONS/Kirches2010.pdf}
}

@inproceedings{Kirches2010c,
  author = {C. Kirches and L. Wirsching and S. Sager and H.G. Bock},
  title = {Efficient Numerics for Nonlinear Model Predictive Control},
  booktitle = {Recent Advances in Optimization and its Applications in Engineering},
  publisher = {Springer},
  year = {2010},
  editor = {M. Diehl and F. Glineur and E. Jarlebring and W. Michiels},
  pages = {339--359},
  note = {ISBN 978-3-6421-2597-3},
  url = {http://mathopt.de/PUBLICATIONS/Kirches2010c.pdf}
}

@article{Logist2010,
  author = {F. Logist and S. Sager and C. Kirches and J.F. van Impe},
  title = {Efficient multiple objective optimal control of dynamic systems with integer controls},
  journal = {{J}ournal of {P}rocess {C}ontrol},
  year = {2010},
  volume = {20},
  number = {7},
  pages = {810--822},
  doi = {http://dx.doi.org/10.1016/j.jprocont.2010.04.009}
}

@inproceedings{Sager2010f,
  author = {Sager, S. and Barth, C. and Diedam, H. and Engelhart, M. and Funke, J.},
  title = {Optimization to measure performance in the {T}ailorshop test scenario --- structured {MINLP}s and beyond},
  booktitle = {Proceedings {EWMINLP10}},
  year = {2010},
  pages = {261--269},
  address = {CIRM, Marseille}
}

@incollection{Albersmeyer2009a,
  author = {Albersmeyer, J. and Beigel, D. and Kirches, C. and Wirsching, L. and Bock, H.G. and Schl\"oder, J.P.},
  title = {Fast Nonlinear Model Predictive Control with an Application in Automotive Engineering},
  booktitle = {Lecture Notes in Control and Information Sciences},
  publisher = {Springer Verlag Berlin Heidelberg},
  year = {2009},
  editor = {Magni, L. and Raimondo, D.M. and Allg\"ower, F.},
  volume = {384},
  pages = {471--480}
}

@mastersthesis{Diedam2009,
  author = {H. Diedam},
  title = {Fast NMPC Algorithms for Humanoid Robot Walking},
  school = {University of Heidelberg},
  year = {2009}
}

@inproceedings{Dimitrov2009,
  author = {D. Dimitrov and P.-B. Wieber and O. Stasse and H.J. Ferreau and Diedam, H.},
  title = {An Optimized Linear Model Predictive Control Solver for Online Walking Motion Generation},
  booktitle = {IEEE International Conference on Robotics and Automation, 2009. ICRA 2009.},
  year = {2009},
  pages = {1171--1176}
}

@mastersthesis{Engelhart2009,
  author = {Engelhart, M.},
  title = {Modeling, Simulation, and Optimization of Cancer Chemotherapies},
  school = {Heidelberg University},
  year = {2009},
  url = {http://mathopt.uni-hd.de/PUBLICATIONS/Engelhart2009.pdf}
}

@article{Sager2009b,
  author = {S. Sager},
  title = {Reformulations and Algorithms for the Optimization of Switching Decisions in Nonlinear Optimal Control},
  journal = {Journal of Process Control},
  year = {2009},
  volume = {19},
  number = {8},
  pages = {1238--1247},
  url = {http://mathopt.de/PUBLICATIONS/Sager2009b.pdf}
}

@inproceedings{Sager2006,
  author = {S. Sager and H.G. Bock and M. Diehl and G. Reinelt and J.P. Schl\"oder},
  title = {Numerical methods for optimal control with binary control functions applied to a {L}otka-{V}olterra type fishing problem},
  booktitle = {Recent Advances in Optimization},
  publisher = {Springer},
  year = {2009},
  editor = {A. Seeger},
  volume = {563},
  series = {Lectures Notes in Economics and Mathematical Systems},
  pages = {269--289},
  address = {Heidelberg},
  note = {ISBN 978-3-5402-8257-0}
}

@article{Sager2009,
  author = {Sager, S. and Reinelt, G. and Bock, H.G.},
  title = {Direct Methods With Maximal Lower Bound for Mixed-Integer Optimal Control Problems},
  journal = {Mathematical Programming},
  year = {2009},
  volume = {118},
  number = {1},
  pages = {109--149},
  url = {http://mathopt.de/PUBLICATIONS/Sager2009.pdf}
}

@mastersthesis{Schaefer2009,
  author = {Sch\"afer, A.},
  title = {On scaling techniques and termination criteria for SQP methods},
  school = {Universit\"at Heidelberg},
  year = {2009}
}

@article{Brandt-Pollmann2008,
  author = {Brandt-Pollmann, U. and Winkler, R. and Sager, S. and Moslener, U. and Schl\"oder, J.P.},
  title = {Numerical Solution of Optimal Control Problems with Constant Control Delays},
  journal = {Computational Economics},
  year = {2008},
  volume = {31},
  number = {2},
  pages = {181--206},
  url = {http://mathopt.uni-hd.de/PUBLICATIONS/Brandt-Pollmann2008.pdf}
}

@inproceedings{Diedam2008,
  author = {H. Diedam and D. Dimitrov and P.-B. Wieber and K. Mombaur and M. Diehl},
  title = {Online Walking Gait Generation with Adaptive Foot Positioning through Linear Model Predictive Control},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008. IROS 2008.},
  year = {2008},
  pages = {1121--1126}
}

@inbook{Gruene2008,
  author = {L. Gr\"une and S. Sager and F. Allg\"ower and H.G. Bock and M. Diehl},
  title = {Produktionsfaktor {Mathematik}},
  chapter = {Vorausschauend planen, gezielt handeln -- \"uber die {R}egelung und {S}teuerung technischer {P}rozesse},
  publisher = {acatech},
  year = {2008},
  editor = {M. Gr\"otschel and K. Lucas and V. Mehrmann},
  pages = {27--62},
  note = {ISSN 1861-9924, ISBN 978-3-540-89434-6},
  url = {http://mathopt.de/PUBLICATIONS/Gruene2008.pdf}
}

@inproceedings{Sager2008a,
  author = {S. Sager and C. Kirches and H.G. Bock},
  title = {Fast solution of periodic optimal control problems in automobile test-driving with gear shifts},
  booktitle = {Proceedings of the 47th {IEEE} Conference on Decision and Control ({CDC} 2008), Cancun, Mexico},
  year = {2008},
  pages = {1563--1568},
  note = {ISBN: 978-1-4244-3124-3},
  url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=4739014},
  doi = {http://dx.doi.org/10.1109/CDC.2008.4739014}
}

@article{Shaik2008,
  author = {Shaik, O.S. and Sager, S. and Slaby, O. and Lebiedz, D.},
  title = {Phase tracking and restoration of circadian rhythms by model-based optimal control},
  journal = {IET Systems Biology},
  year = {2008},
  volume = {2},
  pages = {16--23}
}

@misc{Sager2007c,
  author = {Sager, S.},
  title = {Von diskreten {M}athematikern und {W}anderungen im {G}ebirge},
  journal = {Bild der Wissenschaft plus},
  year = {2007},
  volume = {11},
  pages = {12--15},
  url = {http://www.klaus-tschira-preis.info/download/2007/BDW_KTP_2007.pdf}
}

@article{Sager2007a,
  author = {S. Sager and U. Brandt-Pollmann and M. Diehl and D. Lebiedz and H.G. Bock},
  title = {Exploiting system homogeneities in large scale optimal control problems for speedup of multiple shooting based {SQP} methods},
  journal = {Computers and Chemical Engineering},
  year = {2007},
  volume = {31},
  pages = {1181--1186}
}

@inproceedings{Sager2007,
  author = {S. Sager and M. Diehl and G. Singh and A. K\"upper and S. Engell},
  title = {Determining {SMB} superstructures by mixed-integer control},
  booktitle = {Proceedings OR2006},
  publisher = {Springer},
  year = {2007},
  editor = {K.-H. Waldmann and U.M. Stocker},
  pages = {37--44},
  address = {Karlsruhe}
}

@article{Slaby2007,
  author = {Slaby, O. and Sager, S. and Shaik, O.S. and Kummer, U. and Lebiedz, D.},
  title = {Optimal control of self-organized dynamics in cellular signal transduction},
  journal = {Mathematical and Computational Modelling of Dynamical Systems},
  year = {2007},
  volume = {13},
  number = {5},
  pages = {487--502}
}

@techreport{Brandt-Pollmann2006,
  author = {Brandt-Pollmann, U. and Winkler, R. and Sager, S. and Moslener, U. and Schl\"oder, J.P.},
  title = {Numerical Solution of Optimal Control Problems with Constant Control Delays},
  year = {2006},
  note = {available at http://ssrn.com/abstract=948137},
  url = {http://ssrn.com/abstract=948137}
}

@article{Diehl2006d,
  author = {M. Diehl and H.G. Bock and H. Diedam and P.-B. Wieber},
  title = {Fast Direct Multiple Shooting Algorithms for Optimal Robot Control},
  journal = {LNCIS},
  year = {2006},
  note = {(in print)}
}

@article{Koenig2006,
  author = {R. K\"onig and G. Schramm and M. Oswald and H. Seitz and S. Sager and M. Zapatka and G. Reinelt and R. Eils},
  title = {Discovering functional gene expression patterns in the metabolic network of Escherichia coli with wavelets transforms},
  journal = {BMC Bioinformatics},
  year = {2006},
  volume = {7},
  pages = {119},
  url = {http://www.biomedcentral.com/1471-2105/7/119}
}

@mastersthesis{Kirches2006,
  author = {C. Kirches},
  title = {A Numerical Method for Nonlinear Robust Optimal Control with Implicit Discontinuities and an Application to Powertrain Oscillations},
  school = {Ruprecht--Karls--Universit\"at Heidelberg},
  year = {2006},
  url = {http://mathopt.de/PUBLICATIONS/Kirches2006.pdf}
}

@inproceedings{Lebiedz2006,
  author = {D. Lebiedz and S. Sager and O.S. Shaik and O. Slaby},
  title = {Optimal control of self-organized dynamics in cellular signal transduction},
  booktitle = {Proceedings of the 5th {MATHMOD} conference},
  year = {2006},
  series = {{ARGESIM}-Reports, {ISBN} 3-901608-25-7},
  address = {Vienna}
}

@misc{Sager2006a,
  author = {Sager, S.},
  title = {Numerische {M}ethoden f\"ur {P}robleme der gemischt-ganzzahligen {O}ptimalen {S}teuerung},
  journal = {OR News},
  year = {2006},
  volume = {28},
  pages = {30--31}
}

@phdthesis{Sager2006b,
  author = {Sager, S.},
  title = {Numerical methods for mixed--integer optimal control problems},
  school = {Universit\"at Heidelberg},
  year = {2006},
  url = {http://mathopt.de/PUBLICATIONS/Sager2005.pdf}
}

@article{Brandt-Pollmann2005a,
  author = {Brandt-Pollmann, U. and Lebiedz, D. and Diehl, M. and Sager, S. and Schl\"oder, J.P.},
  title = {Real-time nonlinear feedback control of pattern formation in (bio)chemical reaction--diffusion processes: {A} model study},
  journal = {Chaos},
  year = {2005},
  volume = {15},
  pages = {033901},
  note = {selected for online-publication in Virtual Journal of Biological Physics Research, July 15, 2005}
}

@article{Lebiedz2005,
  author = {Lebiedz, D. and Sager, S. and Bock, H.G. and Lebiedz, P.},
  title = {Annihilation of limit cycle oscillations by identification of critical phase resetting stimuli via mixed-integer optimal control methods},
  journal = {Physical Review Letters},
  year = {2005},
  volume = {95},
  pages = {108303}
}

@book{Sager2005,
  author = {S. Sager},
  title = {Numerical methods for mixed--integer optimal control problems},
  publisher = {Der andere {V}erlag},
  year = {2005},
  address = {T\"onning, L\"ubeck, Marburg},
  note = {ISBN 3-89959-416-9},
  url = {http://mathopt.de/PUBLICATIONS/Sager2005.pdf}
}

@misc{Sager2005a,
  author = {Sager, S.},
  title = {Hohe {M}athematik beim {S}cience {P}icnic},
  journal = {Rhein--{N}eckar--{Z}eitung},
  year = {2005},
  pages = {14},
  note = {July 6},
  url = {http://mathopt.de/PUBLICATIONS/Sager2005a.jpg}
}

@mastersthesis{Sager2001,
  author = {Sager, S.},
  title = {Lange {S}chritte im {D}ualen {S}implex-{A}lgorithmus},
  school = {Universit\"at Heidelberg},
  year = {2001},
  url = {http://mathopt.de/PUBLICATIONS/Sager2001.pdf}
}