@INPROCEEDINGS{VanDerVeen1999ComparisonNonlinearPredictive,
author    = {P.J. van der Veen and R. Babu\v{s}ka and H.B. Verbruggen},
title     = {Comparison of Nonlinear Predictive Control Methods for a Waste-Water Treatment Benchmark},
booktitle = {Proceedings European Control Conference},
pages     = {BA-7-1},
year      = 1999
}